A form-finding method for deployable tensegrity arms and inverse kinematics

IF 1.9 3区工程技术 Q3 MECHANICS Meccanica Pub Date : 2024-09-27 DOI:10.1007/s11012-024-01880-5

Victor Paiva, Luis Silva-Teixeira, Jaime Izuka, Eduardo Okabe, Paulo Kurka

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Abstract

Manipulator arms in robots can be bulky and difficult to transport. Tensegrity mechanisms, which can be compact, deployed, and shaped to adjustable lengths, offer a promising alternative for robotic manipulators. This work develops a methodology for class 2 tensegrity mechanisms formed by cylindrical modules, using nonlinear programming to design a deployable tower capable of complex shape transformations, such as bowing. The study starts by deploying the structure from a compact shape into a tower, thereby enhancing its transportability and impact resistance. Next, a form-finding procedure assigns a bowing movement to the tower by pulling specific cables, using a kinematical method and nonlinear programming to achieve a stable configuration. Finally, the workspace of the mechanism is approximated through surface fitting, and three inverse kinematics functions are defined using artificial neural networks, sequential quadratic programming and a genetic algorithm. The example presented uses six quadruplex modules, but the floor and ceiling functions applied make it valid for any cylindrical tensegrity stacking.

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来源期刊

Meccanica 物理-力学

CiteScore

4.70

自引率

3.70%

发文量

151

审稿时长

7 months

期刊介绍： Meccanica focuses on the methodological framework shared by mechanical scientists when addressing theoretical or applied problems. Original papers address various aspects of mechanical and mathematical modeling, of solution, as well as of analysis of system behavior. The journal explores fundamental and applications issues in established areas of mechanics research as well as in emerging fields; contemporary research on general mechanics, solid and structural mechanics, fluid mechanics, and mechanics of machines; interdisciplinary fields between mechanics and other mathematical and engineering sciences; interaction of mechanics with dynamical systems, advanced materials, control and computation; electromechanics; biomechanics. Articles include full length papers; topical overviews; brief notes; discussions and comments on published papers; book reviews; and an international calendar of conferences. Meccanica, the official journal of the Italian Association of Theoretical and Applied Mechanics, was established in 1966.