Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms

Venkateswaran, Swaminath; Chablat, Damien

doi:10.1007/978-3-030-50975-0_28

Cited by 4 publications

(20 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These architectures are differentiated by the number of tensions springs employed where the former employs three springs and the latter employs four springs. Based on the results of [19], the 3-SPS-U architecture is compatible with addressing the issue of active compliance while the 4-SPS-U architecture addresses both compliance issues. As the 4-SPS-U tensegrity mechanism provides higher tilt limits under passive modes [19], this architecture is coupled along with the bio-inspired robot to make it flexible.…”

Section: Architecture Of the Robotmentioning

confidence: 98%

“…Based on the results of [19], the 3-SPS-U architecture is compatible with addressing the issue of active compliance while the 4-SPS-U architecture addresses both compliance issues. As the 4-SPS-U tensegrity mechanism provides higher tilt limits under passive modes [19], this architecture is coupled along with the bio-inspired robot to make it flexible. The digital model of the existing bio-inspired robot and the 4-SPS-U tensegrity mechanisms are assembled using the CATIA software to have a flexible robot assembly and it is represented in Fig.…”

Section: Architecture Of the Robotmentioning

confidence: 98%

“…So, a cascading approach is being implemented through three different sub-problems to identify an optimal design of the robot assembly. The first optimization problem deals with the determination of optimal design parameters of the 4-SPS-U tensegrity mechanism [19] by a metaheuristic approach. Using Genetic Algorithm in MATLAB, the total length of the mechanism and the free length of the spring are determined by ensuring the static stability of the tensegrity mechanism.…”

Section: Ikpmentioning

confidence: 99%

“…By the study of design issues viz: Passive compliance, Active compliance and Tilt limits [12,20], a tensegrity mechanism was proposed and introduced as an articulation unit for the bio-inspired robot. Through singularity and workspace analysis, two types of tensegrity mechanisms viz: 3-SPS-U and 4-SPS-U architectures were analyzed in [19]. These architectures are differentiated by the number of tensions springs employed where the former employs three springs and the latter employs four springs.…”

Section: Architecture Of the Robotmentioning

confidence: 99%

“…The equations for the mechanism can be generated by correlating to a parallel manipulator of type 4-SPS-U [19] where S indicates spherical joint, P indicates actuated prismatic joint and U indicates universal joint. The representation of the tensegrity mechanism and its correlation to a parallel manipulator at the home-pose is shown in Fig.…”

Section: Architecture Of the Tensegrity Mechanism And Geometric Equatmentioning

confidence: 99%

See 4 more Smart Citations

An Optimal Design of a Flexible Piping Inspection Robot

Venkateswaran

Chablat

Hamon

2021

Journal of Mechanisms and Robotics

Self Cite

View full text Add to dashboard Cite

This article presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition of tensegrity mechanisms between the motor modules, the mobile robot becomes flexible to pass through the bends. However, the existing motor units prove to be oversized for passing through pipe bends at 90°. Thus, three cascading optimization problems are presented in this article to determine the sizing of robot assembly that can overcome such pipe bends. The first problem deals with the identification of design parameters of the tensegrity mechanism based on static stability. Followed by that, in the second problem, the optimum design parameters of the robot modules are determined for the robot assembly without the presence of leg mechanisms. The third problem deals with the determination of the size of the leg mechanism for the results of the two previous optimization problems. A digital model of the optimized robot assembly is then realized using CAD software.

show abstract

Section: Architecture Of the Robotmentioning

confidence: 98%

Section: Architecture Of the Robotmentioning

confidence: 98%

Section: Ikpmentioning

confidence: 99%

Section: Architecture Of the Robotmentioning

confidence: 99%

Section: Architecture Of the Tensegrity Mechanism And Geometric Equatmentioning

confidence: 99%

See 3 more Smart Citations

An Optimal Design of a Flexible Piping Inspection Robot

Venkateswaran

Chablat

Hamon

2021

Journal of Mechanisms and Robotics

Self Cite

View full text Add to dashboard Cite

show abstract

Trajectory Planning for a 3-SPS-U Tensegrity Mechanism

Venkateswaran

Chablat

2021

Volume 8B: 45th Mechanisms and Robotics Conference (MR)

Self Cite

View full text Add to dashboard Cite

This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are required to allow the mechanism as well as the robot to follow a certain direction. Using DC-motors coupled with encoders, experiments are carried out on a test bench of the tensegrity mechanism. The actuation of the mobile platform is performed using cables that pass through each spring. By correlating the architecture to a 3-SPS-U parallel mechanism, the singularity-free workspace of the mechanism is analyzed to identify the tilt limits. A closed-loop PID controller is implemented using a microcomputer to perform a linear trajectory within the singularity-free workspace. The Inverse Kinematic Problem (IKP) is solved by passing input tilt angles to the controller. With the help of a force control algorithm, the experiments are carried out under no-load conditions for vertical and horizontal orientations of the mechanism. The error data of the joint positions and the motor torques are then interpreted for both orientations of the mechanism.

show abstract

Design and Analysis of a Series-Parallel Hybrid 3-SPS-U Mechanism

Venkateswaran,

Chablat,

Creusot

2023

Volume 8: 47th Mechanisms and Robotics Conference (MR)

View full text Add to dashboard Cite

This article presents the design and analysis of a seriesparallel hybrid tensegrity mechanism. The mechanism has two stages which consist of a fixed base, an intermediate mobile platform, and a mobile end-effector. Each stage is connected by three tension springs and a universal joint in the center. By correlating to a 3-SPS-U architecture, the geometrical equations for the mechanism are generated in the Euler space and the Tilt & Torsion space. To simplify the computations, the Tilt & Torsion space is employed for the analysis of the mechanism. A stability analysis is carried out initially to identify the design parameters of the mechanism in the static mode through an optimization approach. By employing algebraic methods, the singularity analysis is then carried out on the hybrid mechanism. The results of this analysis helped in identifying the feasible workspace and the maximum tilt limits of the architecture. A mapping equation that demonstrates the relation between the Tilt & Torsion angles and the Euler angles is then presented using the results of singularity analysis. A numerical simulation is then demonstrated to validate the results of the analysis. The mechanism under study is then proposed to be integrated into a piping inspection robot for passing through elbows and T-sections.

show abstract

Singularity and Workspace Analysis of 3-SPS-U and 4-SPS-U Tensegrity Mechanisms

Cited by 4 publications

References 12 publications

An Optimal Design of a Flexible Piping Inspection Robot

An Optimal Design of a Flexible Piping Inspection Robot

Trajectory Planning for a 3-SPS-U Tensegrity Mechanism

Design and Analysis of a Series-Parallel Hybrid 3-SPS-U Mechanism

Contact Info

Product

Resources

About