<?xml version="1.0" encoding="utf-8"?>
<export-example>
  <doc>
    <id>7316</id>
    <completedYear/>
    <publishedYear>2024</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>1047</pageFirst>
    <pageLast/>
    <pageNumber>1042</pageNumber>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>IEEE</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members</title>
    <abstract language="eng">The use of intrinsically compliant tensegrity structures in manipulation systems is an attractive research topic. In this paper a 3D compliant robotic arm based on a stacked tensegrity structure consisting of x-shaped rigid members is considered. The rigid members are interconnected by a net of prestressed, tensioned members with pronounced intrinsic elasticity and by inelastic tensioned members. The system's motion is achieved by length-change of the inelastic tensioned members. The operating principle of the system is discussed with the help of kinematic considerations and verified by experiments.</abstract>
    <parentTitle language="eng">2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024</parentTitle>
    <identifier type="doi">10.1109/RoboSoft60065.2024.10521941</identifier>
    <enrichment key="opus.source">doi-import</enrichment>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>David Herrmann</author>
    <author>Leon Schaeffer</author>
    <author>Lukas Schmitt</author>
    <author>Wolfgang Körber</author>
    <author>Lukas Merker</author>
    <author>Lena Zentner</author>
    <author>Valter Böhm</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Geometry</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Three-dimensional displays</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Shape</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Prototypes</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Kinematics</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Soft robotics</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Manipulators</value>
    </subject>
    <collection role="institutes" number="FAKMB">Fakultät Maschinenbau</collection>
    <collection role="othforschungsschwerpunkt" number="16316">Produktion und Systeme</collection>
    <collection role="institutes" number="">Labor Finite-Elemente-Methode (FEM)</collection>
  </doc>
</export-example>
