Chapitre D'ouvrage Année : 2020

Static analysis and design strategy of two antagonistically actuated joints

Résumé

This paper compares the static performances of two types of antagonistically actuated joints: a revolute (R) joint and an antiparallel-ogram (X) joint. Both joints are equipped with lateral springs and actu-ated with two opposite cables running through the springs. The comparative study is conducted on the basis of their wrench-feasible workspace and stiffness. A methodology is proposed for the optimal design of each joint. Eventually, an R-joint and an X-joint, optimized for the same prescribed wrench-feasible workspace, are compared on the basis of their maximal actuation forces.

Fichier principal
Vignette du fichier
Comparison_analysis_of_revolute_and_anti_parallelogram_tensegrity_joints_AfterReview.pdf (804.19 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence

Dates et versions

hal-03010558 , version 1 (17-11-2020)

Licence

Identifiants

  • HAL Id : hal-03010558 , version 1

Citer

Vimalesh Muralidharan, Philippe Wenger, Matthieu Furet. Static analysis and design strategy of two antagonistically actuated joints. New Trends in Mechanism and Machine Science, 2020. ⟨hal-03010558⟩
102 Consultations
188 Téléchargements

Partager

  • More