Sensitivity Analysis of Cable Actuations for Moving a Tensegrity Mechanism Along a Specified Path
Traditional robots are based on rigid links connected by prismatic and revolute joints. They suffer from high weight to load carrying capability ratios and inability to recover from damage. Tensegrity mechanisms, with their inherently high deformation tol
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Gentiane Venture Jorge Solis Yukio Takeda Atsushi Konno Editors
ROMANSY 23 Robot Design, Dynamics and Control Proceedings of the 23rd CISM IFToMM Symposium International Centre for Mechanical Sciences
CISM International Centre for Mechanical Sciences Courses and Lectures Volume 601
Managing Editor Paolo Serafini, CISM—International Centre for Mechanical Sciences, Udine, Italy Series Editors Elisabeth Guazzelli, IUSTI UMR 7343, Aix-Marseille Université, Marseille, France Franz G. Rammerstorfer, Institut für Leichtbau und Struktur-Biomechanik, TU Wien, Vienna, Wien, Austria Wolfgang A. Wall, Institute for Computational Mechanics, Technical University Munich, Munich, Bayern, Germany Bernhard Schrefler, CISM—International Centre for Mechanical Sciences, Udine, Italy
For more than 40 years the book series edited by CISM, “International Centre for Mechanical Sciences: Courses and Lectures”, has presented groundbreaking developments in mechanics and computational engineering methods. It covers such fields as solid and fluid mechanics, mechanics of materials, micro- and nanomechanics, biomechanics, and mechatronics. The papers are written by international authorities in the field. The books are at graduate level but may include some introductory material.
More information about this series at http://www.springer.com/series/76
Gentiane Venture Jorge Solis Yukio Takeda Atsushi Konno •
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Editors
ROMANSY 23 - Robot Design, Dynamics and Control Proceedings of the 23rd CISM IFToMM Symposium
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Editors Gentiane Venture Tokyo University of Agriculture and Technology Tokyo, Japan Yukio Takeda Tokyo Institute of Technology Tokyo, Japan
Jorge Solis Karlstad University Karlstad, Sweden Atsushi Konno Hokkaido University Sapporo, Japan
ISSN 0254-1971 ISSN 2309-3706 (electronic) CISM International Centre for Mechanical Sciences ISBN 978-3-030-58379-8 ISBN 978-3-030-58380-4 (eBook) https://doi.org/10.1007/978-3-030-58380-4 © CISM International Centre for Mechanical Sciences 2021 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for a
