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Stable wrench-feasible workspace of a 2-X tensegrity manipulator

Abstract : The stable wrench-feasible workspace (SWFW) of a cable-driven tensegrity manipulator defines the set of all end-effector poses reachable with a stable equilibrium configuration, for a positive and bounded input cable forces. A method for determining the boundary points of the SWFW of a manipulator with two anti-parallelogram (X) joints and link offsets, actuated remotely by four cables, has been proposed. It involves two 1-dimensional (D) scanning of the joint space to firstly determine the bounding points of the stable wrench-feasible joint space (SWFJ), followed by those of the SWFW. At each grid in the joint space, a set of univariate polynomial equations are solved to determine the desired boundary points with a good accuracy. The steps involved in the derivation of two of these polynomials are detailed, while the others are also derived in a similar manner. Finally, a numerical example of the 2-X manipulator is considered and its SWFW boundary points are visualized.
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Contributor : Vimalesh MURALIDHARAN Connect in order to contact the contributor
Submitted on : Tuesday, May 17, 2022 - 6:27:39 PM
Last modification on : Saturday, June 25, 2022 - 3:04:21 AM


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  • HAL Id : hal-03670867, version 1


Vimalesh Muralidharan. Stable wrench-feasible workspace of a 2-X tensegrity manipulator. [Technical Report] Laboratoire des Sciences du Numérique de Nantes. 2022. ⟨hal-03670867⟩



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