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A tensegrity-based compliant mechani...

Moon, Youngjin.

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A tensegrity-based compliant mechanism: Analysis and application.

Record Type:	Electronic resources : Monograph/item
Title/Author:	A tensegrity-based compliant mechanism: Analysis and application./
Author:	Moon, Youngjin.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2011,
Description:	138 p.
Notes:	Source: Dissertation Abstracts International, Volume: 73-09(E), Section: B.
Contained By:	Dissertation Abstracts International73-09B(E).
Subject:	Mechanical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3514967
ISBN:	9781267377906

A tensegrity-based compliant mechanism: Analysis and application.
Moon, Youngjin.

A tensegrity-based compliant mechanism: Analysis and application. - Ann Arbor : ProQuest Dissertations & Theses, 2011 - 138 p.

Source: Dissertation Abstracts International, Volume: 73-09(E), Section: B.

Thesis (Ph.D.)--University of Florida, 2011.

This research presents a tensegrity-based compliant mechanism. Planar and spatial tensegrity-based compliant mechanisms were designed using the tensegrity concept. Problems for the kinestatic analysis and stiffness synthesis were then performed for both mechanisms. For the former, it was shown that a maximum of two real solutions could exist. For the later, a unique solution is obtained unless certain geometric conditions occur which cause the matrices which model the problem to become singular. Velocity and acceleration analyses were also performed and the dynamic equation was derived using the Lagrange formula based on the generalized coordinates of task-space variables. As an application, a planar tensegrity-based mechanism was considered as a connector of a ground vehicle type modular robot which tracks a desired path. In order to design a specific mechanism, its workspace and singularity were investigated. The joint positions in the mechanism were chosen so that the workspace was maximized and singular points were minimized by using a genetic algorithm. A three dimensional model was made and simulated in commercial programs. The simplified dynamic model for control was derived and a pose controller was designed and simulated. (Full text of this dissertation may be available via the University of Florida Libraries web site. Please check http://www.uflib.ufl.edu/etd.html ).

ISBN: 9781267377906Subjects--Topical Terms:

649730
Mechanical engineering.

A tensegrity-based compliant mechanism: Analysis and application.
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300 $a 138 p.
500 $a Source: Dissertation Abstracts International, Volume: 73-09(E), Section: B.
500 $a Adviser: Carl D. Crane, III.
502 $a Thesis (Ph.D.)--University of Florida, 2011.
520 $a This research presents a tensegrity-based compliant mechanism. Planar and spatial tensegrity-based compliant mechanisms were designed using the tensegrity concept. Problems for the kinestatic analysis and stiffness synthesis were then performed for both mechanisms. For the former, it was shown that a maximum of two real solutions could exist. For the later, a unique solution is obtained unless certain geometric conditions occur which cause the matrices which model the problem to become singular. Velocity and acceleration analyses were also performed and the dynamic equation was derived using the Lagrange formula based on the generalized coordinates of task-space variables. As an application, a planar tensegrity-based mechanism was considered as a connector of a ground vehicle type modular robot which tracks a desired path. In order to design a specific mechanism, its workspace and singularity were investigated. The joint positions in the mechanism were chosen so that the workspace was maximized and singular points were minimized by using a genetic algorithm. A three dimensional model was made and simulated in commercial programs. The simplified dynamic model for control was derived and a pose controller was designed and simulated. (Full text of this dissertation may be available via the University of Florida Libraries web site. Please check http://www.uflib.ufl.edu/etd.html ).
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