论文标题
用于医疗应用的堆叠式紧张机制
Stacked Tensegrity Mechanism for Medical Application
论文作者
论文摘要
在本文中，提出了一种多段平面张力机制。该机制具有三段结构，每个片段都位于另一个段。细分市场的大小可能会按比例到顶部成比例地减小，从而产生锥形形状，从而像大象躯干一样从底部到尖端。该系统被机械配制为具有线性弹簧和电缆作为执行器的功能。使用最小能量的原理分析了奇异性以及平行机制的稳定性。还进行了优化，以根据底座的大小和机器人系统的移动平台之间的比率获得最大的角度挠度。这项工作的结果是一个机制家族，可以为不同的稳定性生成相同的工作空间。
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top, resulting in a tapered shape from base to tip like an elephant trunk. The system was mechanically formulated as having linear springs and cables functioning as actuators. The singularities, as well as the stability of the parallel mechanism, were analyzed by using the principle of minimum energy. Optimization was also done to obtain the greatest angular deflection for a segment according to a ratio between the size of the base and the moving platform of the robotic system. The result of this work is a family of mechanisms that can generate the same workspace for different stability properties.
