平面テンセグリティ機構のキネトスタティック解析と解の分類
Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism
3本の線形ばねを持つ平面1自由度テンセグリティ機構について、静釣り合い方程式を導出し、最大6つの平衡姿勢のうち1〜2つが安定であることを示すとともに、解を入力パラメータに応じて分類した。
著者: P Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
Tensegrity mechanisms have several interesting properties that make them suitable for a number of applications. Their analysis is generally challenging because the static equilibrium conditions often result in complex equations. A class of planar one-degree-of-freedom (dof) tensegrity mechanisms with three linear springs is analyzed in detail in this paper. The kinetostatic equations are derived and solved under several loading and geometric conditions. It is shown that these mechanisms exhibit up to six equilibrium configurations, of which one or two are stable. Discriminant varieties and cylindrical algebraic decomposition combined with Groebner base elimination are used to classify solutions as function of the input parameters.
