Optimal Design of Tensegrity Mechanisms Used in a Bird Neck Model

Matthieu Furet, Anders van Riesen, Christine Chevallereau, Philippe Wenger

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    Abstract

    This paper deals with the optimal design of an antagonistically actuated X-shape Snelson tensegrity mechanism to be used in a preliminary bird neck model made of a series of cascaded such mechanisms. The mechanism, subject to its own weight and to the weight of the subsequent mechanisms, is designed to maximize its wrench feasible workspace under given maximal actuation forces. Moreover, the mechanism is constrained to stand in a prescribed rest configuration. The optimized parameters are the link lengths and the springs stiffness
    Original languageEnglish
    Title of host publicationEuCoMeS 2018
    Subtitle of host publicationProceedings of the 7th European Conference on Mechanism Science
    EditorsBurkhard Corves, Philippe Wenger, Mathias Hüsing
    Pages365-375
    Number of pages11
    ISBN (Electronic)978-3-319-98020-1
    DOIs
    Publication statusPublished - 1 Jan 2019
    Event7th European Conference on Mechanism Science 2018 - Aachen, Germany
    Duration: 4 Sep 20186 Sep 2018
    Conference number: 7

    Publication series

    NameMechanisms and Machine Science
    Volume59
    ISSN (Print)2211-0984
    ISSN (Electronic)2211-0992

    Conference

    Conference7th European Conference on Mechanism Science 2018
    Abbreviated titleEuCoMeS 2018
    CountryGermany
    CityAachen
    Period4/09/186/09/18

    Keywords

    • Design
    • Stiffness
    • Tensegrity
    • Wrench feasible workspace

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  • Cite this

    Furet, M., van Riesen, A., Chevallereau, C., & Wenger, P. (2019). Optimal Design of Tensegrity Mechanisms Used in a Bird Neck Model. In B. Corves, P. Wenger, & M. Hüsing (Eds.), EuCoMeS 2018: Proceedings of the 7th European Conference on Mechanism Science (pp. 365-375). (Mechanisms and Machine Science; Vol. 59). https://doi.org/10.1007/978-3-319-98020-1_43