Abstract
This article analyzes the singularities and workspace of two tensegrity mechanisms that employ a passive universal joint and either three or four tension springs. These two architectures are correlated to 3-SPS-U and 4-SPS-U parallel mechanisms for determining their geometric equations. By fixing the limits of prismatic joints, the workspace for the mechanisms is generated and the parallel singularities are analyzed. Based on the singularity boundaries obtained from the workspace, the joint limits are modified to generate the maximal singularity free workspaces for both the architectures. A comparison is done based on the tilt limits obtained from the workspace of the mechanisms. The mechanism with the maximum tilt limits is implemented for a piping inspection robot to pass through pipe bends and junctions.
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Acknowledgements
We would like to thank the ANR Avineck project team for the support extended in the initial study of this mechanism.
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Venkateswaran, S., Chablat, D. (2021). Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms. In: Lenarčič, J., Siciliano, B. (eds) Advances in Robot Kinematics 2020. ARK 2020. Springer Proceedings in Advanced Robotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-030-50975-0_28
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DOI: https://doi.org/10.1007/978-3-030-50975-0_28
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