Analysis
Tensegrity mechanisms for robotic manipulation

The analysis of simulated data with regard to the desired application requires the use of specific tools. The analysis of a tensegrity mechanism consists in determining and studying the poses x that its end effector can reach by considering the change of the state ρ of its actuated elements.

However, the configurations obtained are subject to static equilibrium conditions. Moreover, form-finding methods do not guarantee that the configurations found are stable. It is therefore essential to study the stability of these configurations.

As deformable systems, tensegrity mechanisms also exhibit stiffness properties that we are seeking to understand and modulate.