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Reconfigurable Planar Quadrilateral Linkages Based on the Tensegrity Principle

  • A feasible possibility to develop planar reconfigurable mechanisms is introduced in this work. Applying the tensegrity principle to common four-bar linkages allows a controllable change between two configurations of the mechanism. These two states correspond to different working spaces which vary regarding to the kinematic and mechanical properties. Therefore, the reconfiguration of the mechanism enables two different operation modes. Hence, this kind of mechanism enables the advantageous properties of conventional linkages with an additional enhanced adaptability of the kinematic and mechanic behavior. Beside the conceptual design of such tensegrity-based mechanisms, a reconfigurable four-bar parallel linkage is considered exemplarily. Numerical simulations are evaluated focusing on the kinematic behavior and the structural mechanics of this mechanism. Especially the reconfiguration of the mechanism by changing between two different working spaces is considered. The simulation results clarify the benefit of utilizing the tensegrity principle in mechanism theory. Adding only a few members to the original linkage enables a reconfigurable mechanism with comparable complexity.

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Metadaten
Author:Philipp Schorr, Jhohan ChavezORCiDGND, Lena ZentnerORCiD, Valter BöhmGND
DOI:https://doi.org/10.1007/978-3-030-61652-6_5
ISBN:978-3-030-61651-9
Parent Title (English):Microactuators, Microsensors and Micromechanisms, MAMM, 2020
Publisher:Springer International Publishing
Place of publication:Cham
Editor:Lena Zentner, Steffen Strehle
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2021
Release Date:2022/03/15
Tag:Planar four-bar linkage; Reconfigurable mechanisms; tensegrity
First Page:48
Last Page:57
Andere Schriftenreihe:Mechanisms and Machine Science ; 96
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Produktion und Systeme
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG