Kinematics Analysis and Optimization of a 3-DOF Planar Tensegrity Manipulator under Workspace Constraint

Tensegrity mechanisms (TM) are well-appraised for their compliance and lightweight, making design theory a hot research topic recently. However, due to unconstrained DOFs, the analysis of TMs generally more complicated than traditional composed rigid links joints. A compact 3-DOF tensegrity manipulator is introduced an advanced two-step kinematic modeling method proposed in this paper. This first assumed that bars cables estimate equilibrium state using energy-based method. Then, flexibility considered, force density equations solved utilizing obtained by previous step as initial guess iteration fast computation. Based on method, performances TM, such workspace, manipulability, potential energy, stiffness, analyzed. Thereafter, installation position size optimized under workspace constraint. In optimization process, discrete points prescribed task contour used simplify constraint improve computational efficiency. Finally, study cases investigated validate feasibility sampling simplification also verified.