Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle
Mechanism and Machine Theory(2021)
摘要
•Reconfiguration of conventional linkages by applying one-sided limited nonholonomic constraints.•Mechanical modeling of tensegrity-based mechanism using the Lagrange formalism.•Numerical simulation of equilibrium configurations/stiffness/kinematics/reconfiguration.•Development of a prototype of a reconfigurable tensegrity-based mechanism.•Experimental investigation of equilibrium configurations/stiffness/kinematics/reconfiguration.
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关键词
Tensegrity-based mechanism,Reconfiguration,Planar four-bar linkage,Multibody dynamics
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