Publication

A three-dof actuated robot

Journal Article (2011)

Journal

IEEE Robotics and Automation Magazine

Pages

96-103

Volume

18

Number

3

Doc link

http://dx.doi.org/10.1109/MRA.2011.940991

File

Download the digital copy of the doc pdf document

Abstract

This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed robot. After a detailed implementation description of the physical robot, some trajectories within its workspace are analyzed. Although our long-term objective is to provide mobile tensegrity-based robots to the community, this work studies a case in which the robot is anchored to the ground. This provides us with a first insight of how these structures should be actuated and sensed to produce movement.

Categories

robots.

Author keywords

actuators, kinematics, mobile robots

Scientific reference

J. M. Mirats Tur and J. Camps. A three-dof actuated robot. IEEE Robotics and Automation Magazine, 18(3): 96-103, 2011.