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A three-DoF actuated robot

AuthorsMirats-Tur, Josep M. ; Camps, Josep
Issue Date2011
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Robotics and Automation Magazine 18(3): 96-103 (2011)
AbstractThis article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed robot. After a detailed implementation description of the physical robot, some trajectories within its workspace are analyzed. Although our long-term objective is to provide mobile tensegrity-based robots to the community, this work studies a case in which the robot is anchored to the ground. This provides us with a first insight of how these structures should be actuated and sensed to produce movement.
Publisher version (URL)http://dx.doi.org/10.1109/MRA.2011.940991
Identifiersdoi: 10.1109/MRA.2011.940991
issn: 1070-9932
e-issn: 1558-223X
Appears in Collections:(IRII) Artículos
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