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
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.
Follow us!