From modeling to control of a variable stiffness device based on a cable-driven tensegrity mechanism

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• 作者：Quentin Boehler^a ; ^{q.boehler@unistra.fr-} ; Salih Abdelaziz^b ; Marc Vedrines^a ; Philippe Poignet^b ; Pierre Renaud^a
• 关键词：Tensegrity mechanism ; Variable stiffness ; Cable-driven mechanisms ; Tension distribution ; Velocity distribution
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：107
• 期：Complete
• 页码：1-12
• 全文大小：1238 K
• 卷排序：107

文摘

The model of a tensegrity mechanism is derived, and a variation of its stiffness along its degree of freedom is highlighted. Distribution algorithms are used to control the position and the angular stiffness or its first derivative. The validation of both strategies is conducted on a dedicated setup with demonstration of the efficiency of both approaches.