Forward kinematic analysis of tensegrity mechanism using hybrid method

Tensegrity Mechanisms are two or three dimension light structure which consists of rigid and connecting elements under pressure and tensile forces. Tensegrity mechanism which is considered in this paper has a fixed base and a moving plate that three arms as actuators and three springs as tensile links constitute six kinematic chains between them. The use of springs is in order to create more flexibility in the system. Mechanism Endpoint position and orientation can be obtained by knowing the arms and tensile links length and then analysis of forward kinematic. Unlike inverse kinematic in parallel mechanism, the forward kinematic analysis is very difficult due to inclusion of nonlinear equations. This paper presents a hybrid strategy consists of a neural network and a numerical method to solve forward kinematic of the Tensegrity mechanism.