Elastostatic Modeling of Multi-Link Flexible Manipulator Based on Two-Dimensional Dual-Triangle Tensegrity Mechanism

Abstract The paper deals with the elastostatic modeling of a multi-link flexible manipulator based on two-dimensional (2D) dual-triangle tensegrity mechanism and its nonlinear behavior under external loading. main attention is paid to static equilibriums stiffness loading for arbitrary initial configuration. It was proved that there quasi-buckling phenomenon this while increasing. In neighborhood these configurations, analyzed using enhanced virtual joint method (VJM). A relevant simulation study confirmed obtained theoretical results.