Abstract Tensegrity robots, which are famous for their light weight and high adaptability, have unique potential applications in space exploration and task execution in complex environments. In this paper, a new type of tensegrity robot containing springs is introduced and analysed. The kinematic and static problems of the tensegrity robot are solved using the law of minimum energy. The accessible workspace of the tensegrity robot is calculated using a numerical method according to the kinematic and static model. In addition, the feasible force space, which is the collection of external forces that can be applied to the tensegrity robot in a certain equilibrium configuration, is derived and verified using a particular tensegrity robot as an example.

中文翻译：

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一种新型张拉整体机器人的运动学和静态分析

摘要 张拉整体机器人以其重量轻、适应性强而著称，在复杂环境中的空间探索和任务执行方面具有独特的潜在应用。本文介绍并分析了一种新型的含弹簧张拉整体机器人。张拉整体机器人的运动学和静力学问题采用最​​小能量定律求解。根据运动学和静态模型，使用数值方法计算张拉整体机器人的可达工作空间。此外，以特定的张拉整体机器人为例，推导并验证了可行力空间，即在一定平衡配置下可以施加到张拉整体机器人上的外力的集合。