Stiffness and dynamic performance analysis of a new tensegrity mechanism

Tensegrity mechanisms, which are different from traditional rigid parallel mechanisms for their high dynamic capability and low inertia, have great potential in the field of high-speed sorting. A new type of Tensegrity mechanism is designed and analyzed in this paper. Firstly, the configuration of the tensegrity mechanism is illustrated. Secondly, the static performance of the mechanism is conducted, focusing on dexterity and stiffness. Finally, the dynamic model of the system is established, the Wrench Feasible Workspace under different accelerations is analyzed, and the dynamic performance evaluation indicators are proposed. The simulation results indicate that the designed tensegrity mechanism exhibits high stiffness and dynamic performance, meeting the requirements of high-speed sorting tasks.