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Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies

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Advances in Robot Kinematics 2022 (ARK 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 24))

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Abstract

This paper analyzes the instantaneous kinematic and static performance of a two degree-of-freedom serial manipulator composed of anti-parallelogram (or X-) tensegrity joints and remotely driven with cables. Two actuation schemes with 4 cables and 3 cables, respectively, are considered for this manipulator. The physical limitations on the velocities and forces of the actuating cables are mapped onto the task space of the manipulator, to quantify the corresponding velocity and force-application capabilities of the end-effector. A comparative study is carried out between the 4-cable and 3-cable actuation schemes in terms of their velocity and force performance.

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Authors and Affiliations

  1. Laboratoire des Sciences du Numérique de Nantes (LS2N), CNRS, 44321, Nantes, France

    Vimalesh Muralidharan, Philippe Wenger & Christine Chevallereau

Authors
  1. Vimalesh Muralidharan
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  2. Philippe Wenger
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  3. Christine Chevallereau
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Corresponding author

Correspondence to Vimalesh Muralidharan .

Editor information

Editors and Affiliations

  1. Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

    Oscar Altuzarra

  2. Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

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Muralidharan, V., Wenger, P., Chevallereau, C. (2022). Kinematic and Static Analysis of a Cable-Driven 2-X Tensegrity Manipulator for Two Actuation Strategies. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_17

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