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Theoretical considerations on 3D tensegrity joints for the use in manipulation systems

  • This paper presents a comprehensive analysis of a three-dimensional compliant tensegrity joint structure, examining its actuation, kinematics, and response to external loads. The study investigates a baseline configuration and two asymmetric variants of the joint. The relationship between the shape parameter and the parameters of the tensioned segments is derived, enabling the mathematical description of cable lengths for joint actuation. Geometric nonlinear static finite element simulations are performed to analyze the joint's response under various load conditions. The results reveal the joint's range of motion, the effect of different stiffness configurations, and its deformation behavior under external forces. The study highlights the asymmetric nature of the joint and its potential for targeted motion restriction. These findings advance the general understanding of the behavior of the considered tensegrity joint and provide valuable insights for their design and application in soft robotic systems.

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Metadaten
Author:David Herrmann, Leon Schaeffer, Lena Zentner, Valter BöhmGND
DOI:https://doi.org/10.22032/dbt.58888
Parent Title (English):Engineering for a changing world : 60th ISC, Ilmenau Scientific Colloquium, Technische Universität Ilmenau, September 4-8, 2023
Publisher:Technische Universität Ilmenau
Place of publication:Ilmenau
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2023
Release Date:2023/11/16
First Page:1
Last Page:13
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Produktion und Systeme
Licence (German):Creative Commons - CC BY-SA - Namensnennung - Weitergabe unter gleichen Bedingungen 4.0 International
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