Kinematic and Static Analyses of Statically Balanced Spatial Tensegrity Mechanism with Active Compliant Components

Tensegrity mechanisms are new type of mechanisms whose analysis is different from that of the conventional ones. This article chooses a six degree of freedom tensegrity mechanism with active compliant limbs and presents kinematic and static analysis of it. In this regard, two types of kinematic problems, the inverse and forward problems, are considered and solved. Also, this article shows that by using compliant components of tensegrity mechanism as active components, static balancing of the mechanism is achieved. This point can be considered as a new optimum approach for static balancing of the mechanisms by using tensegrity system concepts.

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