A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints
Benjamin Fasquelle,Matthieu Furet,Parag Khanna,Damien Chablat,Christine Chevallereau,Philippe Wenger,Benjamin Fasquelle,Matthieu Furet,Parag Khanna,Damien Chablat,Christine Chevallereau,Philippe Wenger
This paper proposes a new kind of light-weight manipulators suitable for safe interactions. The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints. Each X-joint is remotely actuated with cables and springs in parallel, thus realizing a tensegrity one-degree-of-freedom mechanism. As compared to manipulators built with simple revolute joints in series, manipulator...
