DESIGN AND ANALYSIS OF A HYBRID PARALLEL PLATFORM THAT INCORPORATES TENSEGRITY

摘要

A new hybrid parallel platform device that is based on tensegrity is introduced in this paper. A tensegrity structure is one that is comprised of members that are either in tension (ties) or compression (struts). The device studied in this paper replaces the 'upper' and 'lower' set of ties of a 3-strut tensesgrity system with rigid bodies. Further, the three struts are replaced by three leg connectors whose lengths can be changed via prismatic actuators. The three remaining ties are replaced by the series combination of a spring and a non-compliant tie where the length of the non-compliant tie can be controlled. An analysis is presented that shows how the connector leg lengths and non-compliant tie lengths can be determined so as to position and orient the upper platform at a desired pose and at a desired total potential energy level. It is the control of the potential energy in the system that makes this new hybrid parallel-platform unique.