This paper analyzes the kinematics of planar tensegrity manipulators made of two Snelson’s X-shape mechanisms in series. The variable instantaneous center of rotation of each mechanism renders the kinematic analysis of the resulting manipulator more challenging. A general formulation of the direct kinematics is set. A method is proposed to solve the inverse kinematic problem in a symbolic way and up to four inverse kinematic solutions are found. The singularities of the manipulator are shown to divide the joint space into two singularity-free components, showing for the first time a planar positioning manipulator that can be cuspidal. The workspace is determined and plotted for different values of the geometric parameters.
CITATION STYLE
Furet, M., Lettl, M., & Wenger, P. (2019). Kinematic Analysis of Planar Tensegrity 2-X Manipulators. In Springer Proceedings in Advanced Robotics (Vol. 8, pp. 153–160). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-93188-3_18
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