Design, modelling and analysis of concepts of planar serial robots based on tensegrity structures
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00352812" target="_blank" >RIV/68407700:21220/21:00352812 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Design, modelling and analysis of concepts of planar serial robots based on tensegrity structures
Original language description
The paper presents the process of design, modelling and analysis of concepts of serial robots, whose construction is based on tensegrity structures. The sequence of concepts can be described as a transition from a classic serial robot to a full tensegrity structure. Subsequently, dynamic models were developed for selected concepts using the SimScape environment of the MatLab program. Local control of the initial lengths of the cables was used to control the movement of these models, where the overall desired shape of the structure is determined based on the position of the end effector and then the free lengths of the cables are controlled to achieve this shape. The aim of the paper is to compare the key properties of robots such as the size of the working space, bending stiffness, etc. of individual concepts with a traditional serial robot.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
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OECD FORD branch
20302 - Applied mechanics
Result continuities
Project
<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů