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Article

A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments

by
Azamat Yeshmukhametov
1,* and
Koichi Koganezawa
2
1
School of Engineering and Digital Sciences, Nazarbayev University, Astana 010000, Kazakhstan
2
Department of Mechanical Engineering, Tokai University, Hiratsuka 259-1207, Japan
*
Author to whom correspondence should be addressed.
Robotics 2023, 12(2), 56; https://doi.org/10.3390/robotics12020056
Submission received: 15 March 2023 / Revised: 24 March 2023 / Accepted: 27 March 2023 / Published: 3 April 2023

Abstract

Tensegrity robots offer several advantageous features, such as being hyper-redundant, lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits, tensegrity structures are also recognized for their complexity, which presents a challenge when addressing the kinematics and dynamics of tensegrity robots. Therefore, this research paper proposes a new kinematic/kinetic formulation for tensegrity structures that differs from the classical matrix differential equation framework. The main contribution of this research paper is a new formulation, based on vector differential equations, which can be advantageous when it is convenient to use a smaller number of state variables. The limitation of the proposed kinematics and kinetic formulation is that it is only applicable for tensegrity robots with prismatic structures. Moreover, this research paper presents experimentally validated results of the proposed mathematical formulation for a six-bar tensegrity robot. Furthermore, this paper offers an empirical explanation of the calibration features required for successful experiments with tensegrity robots.
Keywords: prismatic tensegrity; robot kinematics and kinetics; tensegrity structure; simulation; wire-driven actuation prismatic tensegrity; robot kinematics and kinetics; tensegrity structure; simulation; wire-driven actuation

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MDPI and ACS Style

Yeshmukhametov, A.; Koganezawa, K. A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments. Robotics 2023, 12, 56. https://doi.org/10.3390/robotics12020056

AMA Style

Yeshmukhametov A, Koganezawa K. A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments. Robotics. 2023; 12(2):56. https://doi.org/10.3390/robotics12020056

Chicago/Turabian Style

Yeshmukhametov, Azamat, and Koichi Koganezawa. 2023. "A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments" Robotics 12, no. 2: 56. https://doi.org/10.3390/robotics12020056

APA Style

Yeshmukhametov, A., & Koganezawa, K. (2023). A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments. Robotics, 12(2), 56. https://doi.org/10.3390/robotics12020056

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