This thesis presents a novel robotic mechanism based on the structural concept of Tensegrity. Winch-driven cables are used to actuate the mechanism in such a way that it experiences only translational motion of its end-effector. This behaviour, and the reduction of the mechanism’s inertia due to the use of cables, could be beneficial for certain industrial operations.
A comprehensive study was conducted to investigate the behaviour of the proposed tensegrity mechanism. Kinematic analysis was performed to explore the relationship between actuator and end-effector coordinates, kinematic singularities, reachable workspace volume, and mechanical interferences between internal components. Models of the mechanism were derived to verify that tension is maintained within all cables for both static and dynamic cases. These models were used to determine external forces or accelerations that the mechanism can attain without losing cable tension, and thus controllability. Stiffness was also investigated, as it relates to the accuracy of the end-effector’s position.
Additionally, the construction of a functional prototype is outlined. The design challenges faced when manufacturing this proof-of-concept are examined and a discussion of the chosen design approaches is included. Recommendations are made for future experimental work to evaluate the mechanism performance and validate the theoretical work of this thesis. The finished prototype may act as a platform for further development.