Research on driving method of four-bar tensegrity mechanism

Abstract

Four-bar tensegrity mechanism has the advantages of low weight, simple driving and good controllability. Based on four-bar tensegrity structure, this paper uses mathematical modeling and solid model to test the feasibility of several main driving methods, and carries out ADAMS simulation of the feasible scheme, the change of the displacement of each node during the motion progress is studied. The results of experiment show that when the oblique cable is a string, the position of the center of mass can be changed by changing the length of upper and lower diagonal lines of the mechanism, so that it can move under the action of gravity.