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- W4379118084 abstract "Cable-driven parallel robots are known for their highly dynamic motions. At the same time, tensegrity robots are considered to be robust due to their intrinsic compliance. In a previous work, it was shown that a cable-driven joint with a tensegrity-inspired design allows fast rotations. The question remains whether such a joint is not only fast, but could also protect its base link from impacts due to its special design. In this paper, it is shown that a tensegrity-inspired joint can protect from impacts by isolating. A hardware prototype of such a joint was loaded with a modal hammer. It was found that the joint isolates impact forces up to 83%, demonstrating its ability to effectively absorb and dissipate energy from external impacts. Putting the results in a more general context, such a joint, however, can be used not only (a) passively to protect a base link, but also (b) actively for high-speed motions of a follower link by pulling a lightweight mass with parallel attached and actuated cables. It is anticipated that this study could be a starting point for the creation of novel robotic kinematics, composed of conventional and tensegrity kinematics, to build fast and robust robots." @default.
- W4379118084 created "2023-06-03" @default.
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- W4379118084 date "2023-01-01" @default.
- W4379118084 modified "2023-09-26" @default.
- W4379118084 title "Tensegrity-Inspired Joint Can Protect from Impacts by Isolating" @default.
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- W4379118084 doi "https://doi.org/10.1007/978-3-031-32322-5_28" @default.
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