平面テンセグリティ機構の運動静解析と解の分類
Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms
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運動静方程式を導出し、最大6つの平衡配置のうち1〜2が安定であることを示すとともに、グレブナー基底と円筒代数分解を用いて解を分類した。
著者: Philippe Wenger, D. Chablat
分類: cs.RO
原文アブストラクト
Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modelling musculo-skeleton systems. Tensegrity mechanisms are more difficult to analyze than classical mechanisms as the static equilibrium conditions that must be satisfied generally result in complex equations. A class of planar one-degree-of-freedom tensegrity mechanisms with three linear springs is analyzed in detail for the sake of systematic solution classifications. 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, depending on the geometric and loading conditions. Discriminant varieties and cylindrical algebraic decomposition combined with Groebner base elimination are used to classify solutions as a function of the geometric, loading and actuator input parameters.
