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952 THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH / August 2008
Fig. 3. 3-DoF spatial modular tensegrity mechanism: (a) isometric view1 (b) detailed view of the base.
Returning now to the mechanism’s architecture, a fixed ref- of action of the virtual prismatic joints whereas its Y N -axis is
erence frame X 0 Y0 Z 0 is defined as having its origin, repre- directed towards node C N and its Z N -axis is perpendicular to
sented by O, acting as the mechanism’s base. As is shown the plane formed by nodes A N , B N , and C N . The mechanism
in Figure 3(b), nodes A0 , B0 , and C0 are allowed to translate is actuated by modifying the lengths of its cables. For reasons
freely on passive prismatic joints that are symmetrically dis- that will be clarified in Section 3, it is chosen to actuate the
tributed in the X 0 Y0 -plane (1 4 22 33). The fixed reference cables so that, for instance, the lengths of the cables joining
frame is located at the intersection of the lines of action of the each of the Ai Ai31 node pairs are always equal (this condi-
prismatic joints with its Y0 -axis directed towards node C0 and tion also applies to the cables joining node pairs Bi Bi31 and
its Z 0 -axis perpendicular to the plane formed by nodes A0 , B0 , Ci Ci31 ). There are different approaches that can be used to im-
and C0 . The positions of the passive prismatic joints, measured plement such an actuation scheme. For example, it is possible
from the origin O to nodes A0 , B0 and C0 , are given by 4 1 , to use motor–pulley assemblies to modify the lengths of all ca-
4 2 , and 4 3 , respectively. Meanwhile, the mechanism’s effector bles individually which ensuring, through the use of a control
is assumed to correspond to the origin of a mobile reference algorithm, that the lengths of the cables that must be equal re-
frame X N Y N Z N . In order to maintain symmetry in the mecha- main as such. Such an approach has the disadvantage of requir-
nism, it is assumed that nodes A N , B N , and C N translate along ing motors to be installed on the mechanism’s mobile parts,
virtual passive prismatic joints that are arranged in the same which would most assuredly hinder its dynamic performance.
manner as is shown in Figure 3(b). Consequently, the origin Another possibility is to replace the mechanism’s cables with
of the mobile frame is located at the intersection of the lines shape memory alloy wires. This would have the advantage of
954 THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH / August 2008
10 4 4 1 21 9 30 4 4 2 22 9 40 4 4 3 23 9 (2)
with
3 6 3 6
5 sin71 328 sin71 328
4 7 4 7
4 7 4 7
Fig. 4. Mobility graph. 21 4 45 cos71 3287
4
79 22 4 45 cos71 3287
4
79
5 8 5 8
0 0
not increasing the mechanism’s inertia. However, such actu-
3 6
ators would have a reduced operating range thus leading to 0
a smaller mechanism workspace. Other alternatives, not men- 4 7
4 7
tioned here, can also be considered. Regardless of the method 23 4 4 7
417
(3)
used to actuate the cable lengths, it is henceforth assumed that 5 8
the cables joining each of the Ai Ai31 node pairs have lengths 0
given by 5 1 3N and that the sum of these lengths is 5 1 . In a sim-
ilar fashion, the lengths of the cables joining node pairs Bi Bi31 Meanwhile, the lengths of the springs can be computed as fol-
and Ci Ci31 are given by 5 2 3N and 5 3 3N , respectively, while lows:
their sums are equal to 5 2 and 5 3 . It will also be assumed that 9
the cables have strictly positive lengths (i.e. 5 i 6 0). li 1 4 71i 5 3i 8T 71i 5 3i 89
An analysis of the mechanism’s mobility is beneficial to 9
gain a better understanding of its behavior. The mobility for- li 2 4 71i 5 4i 8T 71i 5 4i 89
mula used here is the one attributed to Chebychev, Grübler, 9
and Kutzbach (Phillips et al.) which takes the following form: li 3 4 73i 5 4i 8T 73i 5 4i 89 (4)
1
nJ
where i 4 09 19
9 N . The mechanism’s vector of input vari-
1 4 d7n B 5 n J 5 18 3 1i 5 1 S 9 (1) ables is 5 4 [5 1 9 5 2 9 5 3 ]T . Its output variables are chosen
i41
as the position coordinates of the mobile frame’s origin with
where 1 represents the mechanism’s mobility, d is the degree respect to the fixed frame. The output vector thus becomes
of freedom of an unconstrained rigid body moving in the space 6 N 4 [x N 9 y N 9 z N ]T .
in which the mechanism is to operate (i.e. d 4 6 for the spa-
tial case), n B and n J represent the quantities of rigid bodies
and joints in the mechanism, 1i is the degree of freedom as- 3. Direct Static Problem
sociated to the ith joint, and 1 S is the quantity of superfluous
degrees of freedom in the mechanism (e.g. the spinning mo- In this paper, it is always assumed that the mechanism is in an
tion of a component attached at its ends by spherical joints). In equilibrium configuration. When this is the case, it is possible
this analysis, the springs need not be taken into account since to compute the position of the mechanism’s effector for given
they do not apply any constraint on the mechanism. By mod- positions of its actuators (i.e. for given cable lengths). Whereas
eling the cables as prismatic joints, the mechanism’s mobility this computation is typically referred to as a mechanism’s di-
graph is obtained as shown in Figure 4 for an arbitrary num- rect kinematic problem, it will be referred to here as the mech-
ber of modules. From this graph, it can 2 be shown that d 4 6, anism’s direct static problem since it not only depends on the
n B 4 12N 3 4, n J 4 18N 3 3, 1i 4 48N 3 3, and geometry of the mechanism but also on its internal forces. A
1 S 4 9N . Substituting these values into Equation (1) yields similar wording will be used in Section 4 for the inverse prob-
1 4 3N 3 3. The mechanism thus has a total of 73N 3 38 lem. In what follows, the direct static problem is solved by se-
DoF of which 3N are constrained by fixing the cable lengths. quentially finding solutions to smaller problems. In this way,
This leaves the mechanism with three unconstrained degrees the equilibrium configuration of the X-shape construction ele-
of freedom. For given cable lengths, the mechanism is thus ment (Figure 1) is first computed. The result is then exploited
capable of deforming itself so as to minimize the potential en- to solve the direct static problem of a mechanism having a sin-
ergy stored in its springs. This is an advantageous property gle module before a solution is finally obtained for the general
since it allows the mechanism to automatically find tensegrity case of N modules.
Arsenault and Gosselin / Three-degree-of-freedom Spatial Modular Tensegrity Mechanism 955
9
N 2 L 2 5 5 253
li 3 4
(6)
N
Because of the trapezoidal shape of the construction elements,
these lengths are valid for i 4 09 19
9 N which implies that
the triangles formed by each Ai Bi Ci trio of nodes in a mecha-
nism are congruent.
730 5 40 8T 730 5 40 8 5 l023 Fig. 8. Geometrical proof of the existence of a unique solution
for which 4 1 6 0, 4 2 6 0, and 4 3 6 0.
5253
4 4 22 3 4 2 4 3 3 4 23 5 L 2 3 4 0
(9)
N2
The problem thus becomes that of computing the intersection this into account, the values of the 4 i can be obtained from
of three quadric surfaces in a three-dimensional space defined Equation (7), for instance, as follows:
by orthogonal axes that correspond to 4 1 , 4 2 , and 4 3 . It can 7
be shown that Equations (7)–(9) correspond to elliptic cylin- 39 2 2
41 4 42 4 43 4 N L 5 5 2
(10)
ders whose longitudinal axes coincide with the axes of the 3N
4 1 4 2 4 3 space (see Figure 7(a)). Furthermore, as illustrated in
For another special case where 5 i 4 5 j , Equations (7)–(9)
Figure 7(b), the minor and major axes of the elliptic cylinders
show that 4 i 4 4 j . For instance, if 5 1 4 5 2 it is observed from
(i.e. 4 i6 and 4 6j ) are pivoted by 5234 radians with respect to
Equations (8) and (9) that 4 1 4 4 2 . In this case, Equation (7)
axes 4 i and 4 j (where axes 4 i and 4 j correspond to the axes of
yields the following solution:
the 4 1 4 2 4 3 space that are perpendicular to the longitudinal axis
of the given elliptic cylinder). For a general case, up to four real 7
3
solutions can exist for the system given by Equations (7)–(9). 41 4 42 4 N 2 L 2 5 5 21
(11)
3N
Furthermore, for certain special cases, an infinity of solutions
are possible. However, there can always only be one real so- Afterwards, the solution for 4 3 is found from Equation (8) as
lution for which the values of 4 1 , 4 2 , and 4 3 are all positive
(which must be the case for the mechanism). This can easily 5N 4 1 3 N 2 74L 2 5 34 21 8 5 45 1 5 3
be observed in Figure 8 where nodes A0 and B0 of triangle 43 4 9 (12)
2N
A0 B0 C0 are displaced along their respective prismatic joints
until node C0 is located on the line of action of its prismatic or equivalently from Equation (9). The same approach applies
joint. For a special case where 5 1 4 5 2 4 5 3 4 5, it can be to the cases where 5 1 4 5 3 or 5 2 4 5 3 . For the general case
observed from Equations (7)–(9) that 4 1 4 4 2 4 4 3 . Taking where 5 1 84 5 2 84 5 3 , the solution to Equations (7)–(9) is more
Arsenault and Gosselin / Three-degree-of-freedom Spatial Modular Tensegrity Mechanism 957
complex. The Dixon elimination method (Kapur and Laksh- 3.4. Positions of the Remaining Nodes
man 1992) is used here to convert these equations into the fol-
lowing polynomial: For given positions of nodes A0 , B0 , and C0 , it can be observed
by referring to Figure 5 that node A1 of the spatial tensegrity
E 2 4 41 3 E 1 4 21 3 E 0 4 09 (13) module must be simultaneously located on the surfaces of the
following three spheres:
where
711 5 10 8T 711 5 10 8 4 75 1 3N 82 9
E0 4 5 L 2 5 1 75 2 3 5 3 8 5 25 2 5 3 5 5 21 5 22 5 5 21 5 23
711 5 30 8T 711 5 30 8 4 L 29
2 711 5 40 8T 711 5 40 8 4 L 2
(20)
5 5 22 5 23 5 5 1 5 2 5 3 5 1 5 275 2 3 5 3 8 9 (14)
As a result, the position of node A1 can be computed as the
intersection of these spheres. Since the spheres’ centers are
E1 4 3 L 2 5 1 5 2 5 3 75 1 5 55 2 5 55 3 8 3 25 21 75 22 3 5 23 8 located in the X 0 Y0 -plane, their intersection (special cases
notwithstanding) corresponds to two points that are symmetric
with respect to this plane. The position of node A1 is chosen
3 55 22 5 23 5 25 31 75 32 3 5 33 8 3 5 32 5 33 here as the point that has a positive Z 0 coordinate. Once 11 is
known, a unit vector directed along the cable joining nodes A0
5 5 1 5 2 5 3 5 21 75 2 3 5 3 8 5 55 1 75 22 3 5 23 8 and A1 can be computed as follows:
24
N
711 5 10 8
(21)
3 45 2 5 3 75 2 3 5 3 8 5 35 1 5 2 5 3 9 (15) 51
Using this last result, the positions of nodes B1 and C1 can be
1
3 obtained with the following expressions:
E2 4 9 5 15 253 5 i 5 5 21 5 22 5 5 21 5 23 5 5 22 5 23
(16) 5 5
2 3
i41 31 4 30 3 29 41 4 40 3 29 (22)
N N
Since the degrees of Equations (7)–(9) are identical, the Dixon
method does not generate parasitic solutions (Kapur and Lak- where the fact that the cables are parallel has been exploited.
shman 1992). When only the positive values of 4 1 are consid-
ered, the solutions of Equation (13) are given by
3.5. Vector 61
9 132
5E 1 3 1 E 12 5 4E 0 E 2
41 4 9 (17) It has been previously shown in Section 3.2 that the triangles
2E 2 formed by the Ai Bi Ci trios of nodes are congruent. More-
over, it is known that the cables in a given module are paral-
where 1 4 91. For each value of 4 1 , the only positive solu- lel and that their direction is given by the unit vector 2. The
tions for 4 2 and 4 3 are obtained from Equations (7) and (8) as mechanism’s A1 B1 C1 triangle is thus obtained as a projec-
follows: tion of triangle A0 B0 C0 where distances and angles are pre-
served and where the lines that project the vertices of triangle
5N 4 1 3 N 2 74L 2 5 34 21 8 5 45 1 5 2 A0 B0 C0 to the corresponding vertices of triangle A1 B1 C1 are
42 4 9 (18)
2N parallel. In Figure 5, vector 61 is defined as linking the ori-
gins of frames X 0 Y0 Z 0 and X 1 Y1 Z 1 . As was described in Sec-
5N 4 1 3 N 2 74L 2 5 34 21 8 5 45 1 5 3 tion 2, the localization of frame X 1 Y1 Z 1 with respect to nodes
43 4
(19) A1 , B1 , and C1 is based on the use of virtual prismatic joints
2N
that are arranged in the same manner as the prismatic joints
Equations (17)–(19) generate two sets of values for the 4 i . linking nodes A0 , B0 , and C0 to frame X 0 Y0 Z 0 (Figure 3(b)).
However, only one of these sets corresponds to a valid solu- Consequently, knowing that triangles A0 B0 C0 and A1 B1 C1 are
tion where 4 1 , 4 2 , and 4 3 are positive and where Equation (9) congruent, the relative position of frame X 1 Y1 Z 1 with respect
is satisfied. By filtering the solutions according to these con- to nodes A1 , B1 , and C1 must be the same as that of frame
ditions, the correct solution is readily identified. Once 4 1 , 4 2 , X 0 Y0 Z 0 with respect to nodes A0 , B0 , and C0 . Vector 61 can
and 4 3 are known, the positions of nodes A0 , B0 , and C0 can thus be found to be
be computed from Equation (2). 61 4
61
29 (23)
958 THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH / August 2008
where
61
is the amplitude of 61 that must now be computed. As was mentioned in Section 3.1, the authors have previously
The condition needing to be satisfied by
61
is that the origin shown that this stability exists (Arsenault and Gosselin 2006c).
of frame X 1 Y1 Z 1 be located on the plane defined by nodes A1 , It can thus be stated that the mechanism is stable for an equilib-
B1 , and C1 . Mathematically, this condition translates into the rium configuration given by the results of this section as long
following: as it is located in its workspace.
6
2 1 3 4
1 1 1 1
4 0
(24)
1 1 1 1 4. Inverse Static Problem
From this equation, one has The mechanism’s inverse static problem consists of computing
the lengths of its cables that will allow its effector to be posi-
11 31 41
61
4
(25) tioned at a specified location (i.e. compute 5 given 6 N ). The
2 31 41 5 2 11 41 3 2 11 31 basic approach used here is to work backwards from the solu-
tion of the mechanism’s direct static problem that was given in
The direct static problem of a mechanism with a single module Section 3. As such, Equation (26) is first solved for 61 :
is thus solved. 1 51
N
61 4 Qi51 6N
(29)
i41
3.6. Vector 6 N
The inverse static problem for a mechanism with N modules
According to the description of the mechanism that was given is thus reduced to a simpler problem where N 4 1. However,
in Section 2, the lengths of the bars and cables as well as matrix Q in the above equation, which represents the rotation
the stiffness of the springs are the same for each of its mod- of frame X 0 Y0 Z 0 to frame X 1 Y1 Z 1 of the module depicted in
ules. When treated separately, the modules must then have the Figure 5, must be expressed as a function of 6 N . In order to do
same equilibrium configurations. It is also known that triangles so, it is beneficial to use the tilt and torsion angles (see, e.g.,
Ai Bi Ci and Ai31 Bi31 Ci31 of a given module are congruent. Bonev (2002)) to represent this rotation. According to the tilt
As a consequence, the assembly in series of the modules does and torsion angle definition, matrix Q can be decomposed as
not require any deviations from their (individual) equilibrium follows:
configurations. Based on these observations, the solution to the Q 4 Qz 78Q y 7
8Qz 758Qz 7 89 (30)
mechanism’s direct static problem for N modules is obtained
where
by summing the 61 vectors belonging to each module:
3 6
cos
0 sin
1
N
4 7
6N 4 Qi51 61 9 (26) 4 7
Q y 7
8 4 4
4 0 1 0 7 79 (31)
i41
5 8
where Q is a rotation matrix that brings frame X i Yi Z i in an 5 sin
0 cos
orientation parallel to frame X i31 Yi31 Z i31 . This matrix can 3 6
be computed using the results given in sections 3.4 and 3.5 as cos 5 sin 0
follows: 4 7
4 7
Q 4 [2 Q 1 2 Q 2 2 Q 3 ]9 (27) Qz 78 4 4
4 sin cos 07
79 (32)
5 8
where 0 0 1
41 5 61 3 6
2Q1 4 2Q2 2 Q3 9 2Q2 4 9
43 cos 5 sin 0
4 7
4 7
731 5 11 8 741 5 11 8 Qz 78 4 4
4 sin cos 07
7
(33)
2Q3 4
(28) 5 8
731 5 11 8 741 5 11 8
0 0 1
During the development of the solution to the mechanism’s
direct static problem, it has been demonstrated geometrically Referring to Figure 9, the general concept behind the use of
that the equilibrium configurations of the modules and of the tilt and torsion angles is to make frame X 0 Y0 Z 0 parallel to
construction elements are not influenced by the mechanism’s frame X 1 Y1 Z 1 using only two rotations. The first of these, il-
assembly. The stability of the mechanism’s equilibrium is thus lustrated in Figure 9(a), brings axis Z 0 directly to its final ori-
a direct result of the stability of each construction element. entation where it is parallel to axis Z 1 . This is accomplished
Arsenault and Gosselin / Three-degree-of-freedom Spatial Modular Tensegrity Mechanism 959
(their direction being given by unit vector 2). It can thus be ob-
served that these two lines along with the lines defined by axes
Y0 and Y1 must be located in a plane. Such a situation can only
occur if the orientation of frame X 1 Y1 Z 1 with respect to frame
X 0 Y0 Z 0 corresponds to a pure tilting rotation (i.e. a rotation
with zero torsion). Furthermore, it can be reasoned that this re-
sult applies in the same way to frames X 0 Y0 Z 0 and X N Y N Z N
of a N module mechanism.
Knowing that 4 0, the task that remains is to find expres-
sions for angles
and in terms of vector 6 N to allow the
subsequent computation of matrix Q. With this goal in mind,
Fig. 9. Illustration of the tilt and torsion angles: (a) tilting of it can be observed that when 4 0 the module is perfectly
axis Z 0 to axis Z 1 1 (b) torsion about axis Z 1 to the final orien- symmetric with respect to a plane passing through the mid-
tation. points of its cables whose normal vector is 2 (see Figures 10
and 6(c)). It is assumed for the moment that axes Z 0 and Z 1
are initially parallel to the unit vector 2. In order to bring axis
Z 0 to its final orientation where it is perpendicular to the plane
formed by nodes A0 , B0 , and C0 , frame X 0 Y0 Z 0 must be tilted
about an axis located in the plane of symmetry. The parame-
ters representing this tilt (rotation angle and angular position
of the rotation axis) depend on the cable lengths. Since the ca-
bles are symmetric with respect to the plane of symmetry, it
follows that the tilting of axis Z 1 bringing it into an orienta-
tion perpendicular to the plane formed by nodes A1 , B1 , and
C1 is identical to the rotation of axis Z 0 except that the rota-
tion occurs in the opposite direction. As a consequence, axes
Z 0 and Z 1 as well as unit vector 2 (or, equivalently, vector 61 )
are located in a unique plane. Furthermore, the axis of the tilt is
perpendicular to this plane. Based on these observations, angle
can be computed from the elements of vector 61 as follows:
Fig. 10. Module’s plane of symmetry.
4 arctan27y1 9 x1 8
(34)
2 2
(35)
rotation between the frames of a module places emphasis on
an interesting behavior of the latter. In fact, when the module Equations (34) and (35) allow the computation of angles and
is in an equilibrium configuration in the absence of external
, respectively, in terms of vector 61 . This is not very use-
or gravitational loads, it can be observed that the orientation ful since these angles are needed to compute 61 from Equa-
of frame X 1 Y1 Z 1 with respect to frame X 0 Y0 Z 0 always cor- tion (29). However, the results of Equations (34) and (35) can
responds to a case with zero torsion (i.e. 4 0). This result now be used in the search for expressions of angles and
stems from the fact that triangle A1 B1 C1 is obtained as a pro- in terms of 6 N . As far as angle is concerned, it has been
jection of triangle A0 B0 C0 using parallel lines. It is known that observed that axes Z 0 and Z 1 as well as vector 61 are lo-
axes Y0 and Y1 are directed from the origins of the fixed and cated in the same plane. For a mechanism with N modules,
mobile frames towards nodes C0 and C1 , respectively. It is also knowing that all of the modules (as well as their equilibrium
known that the line joining the origins of the fixed and mobile configurations) are identical, it is deduced that axes Z 0 and Z N
frames as well as the line joining nodes C0 and C1 are parallel as well as vector 6 N are also located in a unique plane. This
960 THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH / August 2008
51
2 4 61 3 4 1 7Q 5 1821 9 (39)
N
52
2 4 61 3 4 2 7Q 5 1822 9 (40)
N
53
2 4 61 3 4 3 7Q 5 1823
(41)
N
For the specific case where x1 4 y1 4 0, it is observed from
Equation (35) that
4 0 and Q 4 1. Substituting this result
into Equations (39)–(41), it is found that
5 2 5 2
i i
2T 2 4 4 6T1 61 4 z 12 9 (42)
N N
which leads to cables lengths of 5 1 4 5 2 4 5 3 4 N z 1 . The
Fig. 11. Vector closure diagram illustrating the relation be- positions of the passive prismatic joints for this case are given
tween 6 N and
. by Equation (10). For a general case, the product of the trans-
pose of Equation (39) by Equation (40), for example, leads to
5 15 2
2
4 2T1 7Q 5 18T 7Q 5 1822 4 1 4 2
N
implies that angle can, similar to Equation (34), be computed
as 3 6T1 7Q 5 1821 4 1
4 arctan27y N 9 x N 8
(36)
3 6T1 7Q 5 1822 4 2 3 6T1 61
(43)
According to the above observations, the 61 vectors associ-
ated to each of the mechanism’s modules as well as vector Multiplying Equation (39) by Equation (41) as well as Equa-
6 N are located in a unique plane that is obtained by pivoting tion (40) by Equation (41), similar expressions are found.
the X 0 Z 0 -plane by an angle about the Z 0 -axis. Referring It is then possible to substitute these expressions into Equa-
to Equation (26), it is thus possible to draw a vector closure tions (7)–(9), thus leading to the following system of equa-
diagram for the mechanism as shown in Figure 11. In this dia- tions:
gram, angle is computed from the elements of 6 N as follows:
4 21 3 4 22 3 2T1 7Q 5 18T 7Q 5 1822 3 1 4 1 4 2
4 arctan2 x N2 3 y N2 9 z N
(37)
3 6T1 7Q 5 18721 4 1 3 22 4 2 8 3 6T1 61 5 L 2 4 09 (44)
The series of 61 vectors combined with vector 6 N forms a
7N 3 18-sided polygon. For a polygon with Ns sides, it is 4 21 3 4 23 3 2T1 7Q 5 18T 7Q 5 1823 3 1 4 1 4 3
known from trigonometry that the sum of the interior angles
is 7Ns 5 282. Using this knowledge, the following result can 3 6T1 7Q 5 18721 4 1 3 23 4 3 8 3 6T1 61 5 L 2 4 09 (45)
be found from Figure 11:
4 22 3 4 23 3 2T2 7Q 5 18T 7Q 5 1823 3 1 4 2 4 3
2
4
(38)
N
3 6T1 7Q 5 18722 4 2 3 23 4 3 8 3 6T1 61 5 L 2 4 0
(46)
Substituting Equations (36) and (38) into Equation (30) while
taking into account the fact that 4 0, an expression for Q in By applying the Dixon method to this system in order to elim-
terms of 6 N is finally obtained. inate 4 1 and 4 2 , a 15 15 matrix D is generated whose deter-
The preceding developments allow the computation of the minant corresponds to an eighth degree polynomial in terms
vector 61 that corresponds to a given 6 N . The inverse static of 4 3 . Theoretically, it is possible to numerically compute the
problem of the mechanism can now be solved by consider- values of 4 3 associated to the roots of this polynomial and then
ing only one module. In a module, the geometrical constraints to obtain the corresponding values of 4 1 and 4 2 by substitution
given by Equations (7)–(9) must always be satisfied. Further- into the original system of equations. However, due to the size
more, since vector 61 is known, the following vector closure and complexity of the polynomial, the computation of its roots
equations must also be satisfied: is poorly conditioned. As an alternative, according to Manocha
Arsenault and Gosselin / Three-degree-of-freedom Spatial Modular Tensegrity Mechanism 961
(1994), it is possible to compute the polynomial’s roots di- and 4 2 4 i3 since 7i lies on a unique line but may have
rectly from matrix D by formulating an eigenvalue problem. one of two different directions (one being the negative of the
This approach has already been used, for instance, in order to other), which implies that the i j can be negative even though
solve the inverse kinematic problem of a 6-DoF serial manipu- the corresponding values of 4 1 and 4 2 are positive. Among
lator (Manocha and Canny 1994). Furthermore, the eigenvalue the sets of values that are found with this method for 4 1 , 4 2
formulation allows for an almost direct computation of the cor- and 4 3 , only those for which all of the 4 i are real and positive
responding values of 4 1 and 4 2 . The first step in the approach need to be considered. Once this step is complete, the actuator
is to rewrite matrix D as a matrix polynomial in terms of the positions are easily obtained from Equations (39)–(41). Once
powers of 4 3 as follows: again, the solutions of 5 are filtered to eliminate those where
the values of the 5 i are not all positive.
D 4 D3 4 33 3 D2 4 23 3 D1 4 3 3 D0 9 (47)
Once the tensegrity module’s spring lengths have been deter- with
mined, the next step deals with the computation of the pas-
l021 3 l022 5 l023
sive prismatic joint positions. A real solution for 4 1 , 4 2 , and c0x 4 9
4 3 is obtained only if the spring lengths l01 , l02 , and l03 allow 2l01
nodes A0 , B0 , and C0 to form a triangle (see Figure 3(b)). This 7
7l01 3l02 3l03 87l01 5l02 3l03 87l01 3l02 5l03 875l01 3l02 3l03 8
condition is verified when the discriminant of the polynomial c0 y 4 2l01
9 (58)
appearing in Equation (13) is positive, that is, when
where the lengths of the springs (i.e. l0i ) are given in Equa-
E 12 5 4E 0 E 2 4 275 22 5 23 75 1 5 5 2 82 75 1 5 5 3 82
tion (6). By substituting these expressions into Equation (20),
the position of node A1 in frame X 06 Y06 Z 06 , which corresponds
3L 4 N 4 5 2L 2 N 2 75 1 5 2 3 5 1 5 3 3 5 2 5 3 8 to the intersection of the spheres, is found as a function of the
actuator positions as 11 4 [a1x 9 a1 y 9 a1z ]T with
5 5 21 5 22 5 5 21 5 23 5 5 22 5 23
5 75 5 5 2 8
a1x 4 91 1 9
1
3
2N L 2 N 2 5 5 1 5 2
3 25 1 5 2 5 3 5i 6 0
(55)
i41
5 1 L 2 N 2 75 1 35 2 525 3 8575 1 35 2 85 1 5 2 35 3 75 21 35 22 8
It can be seen that this expression is positive when a1 y 4 7 9
2N 7L 2 N 2 55 1 5 2 8F7
F10 4 3L 4 N 4 5 2L 2 N 2 75 1 5 2 3 5 1 5 3 3 5 2 5 3 8
51 F11
1
3 a1 z 4 9 (59)
2N F10
5 5 21 5 22 5 5 21 5 23 5 5 22 5 23 3 25 1 5 2 5 3 5 i 6 09 (56)
i41
where
which constitutes another potential workspace boundary. The 1
3
positions of nodes A0 , B0 , and C0 and the lengths of all com- F11 4 L N 3L N 5
2 2
2 2
5i 5 5152 5 5153 5 5253
2
ponents of the mechanism now being known, the direct static i41
problem’s solution proceeds with the computation of the po-
sitions of nodes A1 , B1 , and C1 . In Section 3.4, this is done 1
3
by computing the intersection of spheres that are associated 3 5 15 252 5i
(60)
to the cable joining nodes A0 and A1 , and to the bars joining i41
node pairs B0 A1 and C0 A1 . If this intersection exists, the po- Knowing from Equation (56) that F10 6 0, it can thus be con-
sition of node A1 is identified which subsequently allows the cluded that the intersection of the spheres is not possible unless
computation of the positions of nodes B1 and C1 . It is thus F11 6 0.
sought to develop an expression needing to be satisfied for an A total of 11 conditions needing to be satisfied by the actu-
intersection of the three spheres to exist. Moreover, this ex- ator positions are thus obtained from the solution to the mech-
pression must be uniquely a function of the actuator positions. anism’s direct static problem. Among these conditions, it is
The method that has been used to model the mechanism makes obvious that F1 , F2 , and F3 must correspond to workspace
the development of the required expression difficult since the boundaries. The task that remains is thus to identify which of
positions of nodes A0 , B0 , and C0 are given as a function of the remaining conditions act as workspace boundaries. This
the 4 i variables who, in turn, are computed for given actuator can be done, for instance, by plotting the surfaces associated
positions by solving the polynomial of Equation (13). The re- to each condition on a graph and observing which are the
sulting expressions of the form 4 i 4 f 75 i 8 are thus relatively most restrictive on the mechanism’s workspace. With this ap-
complex. In order to overcome this difficulty, a new reference proach, it can be seen that the mechanism’s actuator workspace
frame X 06 Y06 Z 06 is defined with its origin located at node A0 , is bounded by the 5 1 4 0, 5 2 4 0, and 5 3 4 0 planes as well
its X 06 -axis directed towards node B0 , and its Z 06 -axis perpen- as the surface given by F11 4 0. An example of this workspace
dicular to the plane formed by nodes A0 , B0 , and C0 (see Fig- is shown in Figure 12.
ure 3(b)). In this frame, the positions of nodes A0 , B0 , and C0 The workspace boundaries described above apply to mech-
are as follows: anisms with any number of modules. However, for cases
3 6 3 6 3 6
0 l01 c0 where N
3 the mechanism cannot physically reach all the
4 7 4 7 4 x7 configurations of its actuator workspace. This result is sim-
4 7 4 7 4 7
10 4 4 7 4 7 4 7
407 9 30 4 4 0 7 9 40 4 4c0 y 7 9 (57) ilar to the one that was found by the current authors (Arse-
5 8 5 8 5 8 nault and Gosselin 2006c) for the planar modular tensegrity
0 0 0 mechanism and the latter is used to illustrate the concept in
Arsenault and Gosselin / Three-degree-of-freedom Spatial Modular Tensegrity Mechanism 963
6. Cartesian Workspace
1
N
1
yN 4 5L sin sin
i 5 9
i41
2
1
N
1
zN 4 L cos
i 5 9 (61)
i41
2
7. Conclusion
computation of this equilibrium for given cable lengths, re- Arsenault, M. and Gosselin, C. M. (2006). Kinematic, sta-
ferred to as the mechanism’s direct static problem, was solved tic and dynamic analysis of a planar 2-DoF tensegrity
for the special case where external and gravitational forces are mechanism. Mechanism and Machine Theory, 41(9): 1072–
not considered. The inverse static problem, corresponding to 1089.
the computation of the cable lengths required to position the Arsenault, M. and Gosselin, C. M. (2006). Kinematic, static
effector at a given location, was also solved. In both cases, and dynamic analysis of a spatial three-degree-of-freedom
the solutions were developed by observing that the equilibrium tensegrity mechanism. ASME Journal of Mechanical De-
configurations of the construction elements used in the mech- sign, 128(5): 1061–1069.
anism are not influenced by the latter’s assembly. Based on Arsenault, M. and Gosselin, C. M. (2006). Kinematic and sta-
the solution of the direct static problem, the mechanism’s ac- tic analysis of a planar modular 2-DoF tensegrity mecha-
tuator workspace boundaries were identified. It was thus seen nism. Proceedings of the IEEE International Conference on
that mechanisms with three or more modules cannot operate Robotics and Automation, Orlando, FL, 15–19 May.
in their entire actuator workspaces because of mechanical in- Arsenault, M. and Gosselin, C. M. (2007). Static balancing of
terferences. By numerically mapping the actuator workspace tensegrity mechanisms. ASME Journal of Mechanical De-
to Cartesian space and then using a modified version of the sign, 129(3): 295–300.
gift wrapper algorithm, the Cartesian workspace boundaries Baker, A. and Crane, C. D. III. (2006). Analysis of three de-
were approximated. The size of the Cartesian workspace is de- gree of freedom 6x6 tensegrity platform. Proceedings of the
pendent on the number of modules in the mechanism. In fact, ASME International Design Engineering Technical Confer-
the addition of modules tends to expand the workspace’s outer ences and Computers and Information in Engineering Con-
boundary while having little effect on its inner boundary. The ference (ASME IDETC/CIE), Philadelphia, PA, 10–13 Sep-
computation of the mechanism’s workspace in this work as- tember.
sumed that the actuation scheme that is used allows the cable Bonev, I. (2002). Geometric analysis of parallel mechanisms.
lengths to vary from a quasi-zero value up to the length of Ph.D Thesis, Department of Mechanical Engineering, Uni-
the bars. If this is not the case the size of the workspace will versité Laval, Québec, Québec, Canada.
be reduced. The neglect of external and gravitational forces Chandana, P., Valero-Cuevas, F. J. and Lipson, H. (2006). De-
in this work can be justified for certain types of applications sign and control of tensegrity robots for locomotion. IEEE
depending on the selection of the mechanism’s parameters. In Transactions on Robotics, 22(5): 944–957.
particular, the use of static balancing techniques compensates Dibakar, S. and Mruthyunjaya, T. S. (1999). A computa-
for the gravitational forces. However, in other cases, the forces tional geometry approach for determination of boundary of
can have a significant impact on the mechanism’s behavior workspaces of planar manipulators with arbitrary topology.
because of the latter’s unconstrained degrees of freedom. Al- Mechanism and Machine Theory, 34(1): 149–169.
though results are not given here, the effects of these forces on Fuller, B. (1962). Tensile-integrity structures. United States
the mechanism were analyzed by Arsenault (2006) who also Patent No. 3,063,521, 13 November.
evaluated the mechanism’s dynamic performance. Furuya, H. (1992). Concept of deployable tensegrity structures
in space applications. International Journal of Space Struc-
tures, 7(2): 143–152.
Acknowledgements Hamlin, G. J. and Sanderson, A. C. (1994). A novel concen-
tric multilink spherical joint with parallel robotics applica-
The authors wish to thank the Natural Sciences and Engineer-
tions. Proceedings of the IEEE International Conference
ing Research Council of Canada (NSERC) for its financial
on Robotics and Automation, San Diego, CA, 8–13 May,
support as well as the Fonds Québécois de la Recherche sur
pp. 1267–1272.
la Nature et les Technologies (FQRNT) and the Canada Re-
Herder, J. L. (2001). Energy-free systems: theory, conception
search Chair Program (CRC).
and design of statically balanced spring mechanisms. Ph.D
Thesis, Delft University of Technology, Delft, The Nether-
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