{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,20]],"date-time":"2025-11-20T06:34:17Z","timestamp":1763620457898},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2018,8,20]],"date-time":"2018-08-20T00:00:00Z","timestamp":1534723200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modeling musculo-skeleton systems. Tensegrity mechanisms are more difficult to analyze than classical mechanisms as the static equilibrium conditions that must be satisfied generally result in complex equations. A class of planar one-degree-of-freedom tensegrity mechanisms with three linear springs is analyzed in detail for the sake of systematic solution classifications. The kinetostatic equations are derived and solved under several loading and geometric conditions. It is shown that these mechanisms exhibit up to six equilibrium configurations, of which one or two are stable, depending on the geometric and loading conditions. Discriminant varieties and cylindrical algebraic decomposition combined with Groebner base elimination are used to classify solutions as a function of the geometric, loading, and actuator input parameters.<\/jats:p>","DOI":"10.1017\/s026357471800070x","type":"journal-article","created":{"date-parts":[[2018,8,20]],"date-time":"2018-08-20T10:41:26Z","timestamp":1534761686000},"page":"1214-1224","source":"Crossref","is-referenced-by-count":21,"title":["Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms"],"prefix":"10.1017","volume":"37","author":[{"given":"P.","family":"Wenger","sequence":"first","affiliation":[]},{"given":"D.","family":"Chablat","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2018,8,20]]},"reference":[{"key":"S026357471800070X_ref1","unstructured":"R. B. Fuller , \u201cTensile-integrity structures,\u201d United States Patent 3063521 (1962)."},{"key":"S026357471800070X_ref12","doi-asserted-by":"crossref","unstructured":"P. Wenger and D. Chablat , \u201cKinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism,\u201d Proceedings of the Computational Kinematics, Poitiers, France (2017).","DOI":"10.1007\/978-3-319-60867-9_48"},{"key":"S026357471800070X_ref16","first-page":"31","volume-title":"Automated Deduction in Geometry, Lecture Notes in Computer Science","author":"Corvez","year":"2002"},{"key":"S026357471800070X_ref5","volume-title":"Cats Paws and Catapults: Mechanical Worlds of Nature and People","author":"Vogel","year":"2000"},{"key":"S026357471800070X_ref2","volume-title":"Tensegrity Systems","author":"Skelton","year":"2009"},{"key":"S026357471800070X_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759811"},{"key":"S026357471800070X_ref3","doi-asserted-by":"publisher","DOI":"10.1177\/026635119200700201"},{"key":"S026357471800070X_ref6","doi-asserted-by":"publisher","DOI":"10.1142\/S0219519402000472"},{"key":"S026357471800070X_ref7","unstructured":"A. P. Sabelhaus , H. Ji , P. Hylton , Y. Madaan , C. W. Yang , A. M. Agogino , J. Friesen and V. SunSpiral , \u201cMechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot,\u201d Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, MA, USA (2015)."},{"key":"S026357471800070X_ref8","unstructured":"J. B. Aldrich and R. E. Skelton , \u201cTime-Energy Optimal Control of Hyper-Actuated Mechanical Systems with Geometric Path Constraints,\u201d Proceedings of the 44th IEEE Conference on Decision and Control (2005) pp. 8246\u20138253."},{"key":"S026357471800070X_ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4020-8600-7_44"},{"key":"S026357471800070X_ref11","doi-asserted-by":"publisher","DOI":"10.1115\/1.4029809"},{"key":"S026357471800070X_ref13","unstructured":"M. Arsenault , D\u00e9veloppement et Analyse de M\u00e9canismes de Tens\u00e9grit\u00e9, Ph.D. Thesis (Qu\u00e9bec, Canada: Universit\u00e9 Laval, 2006)."},{"key":"S026357471800070X_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsc.2007.01.007"},{"key":"S026357471800070X_ref15","volume-title":"Quantifier Elimination for Real Closed Fields by Cylindrical Algebraic Decomposition","author":"Collins","year":"1975"},{"key":"S026357471800070X_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700108"},{"key":"S026357471800070X_ref19","unstructured":"D. L. Bakker , D. Matsuura , Y. Takeda and J. Herder , \u201cDesign of an Environmentally Interactive Continuum Manipulator,\u201d Proceedings of the 14th World Congress in Mechanism and Machine Science, IFToMM2015, Taipei, Taiwan (2015)."},{"key":"S026357471800070X_ref17","doi-asserted-by":"publisher","DOI":"10.1115\/1.4006921"},{"key":"S026357471800070X_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.10.014"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471800070X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,6,13]],"date-time":"2019-06-13T14:32:11Z","timestamp":1560436331000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471800070X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,8,20]]},"references-count":19,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2019,7]]}},"alternative-id":["S026357471800070X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471800070x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,8,20]]}}}