Abstract Tensegrity mechanisms are self-stressed and deployable mechanisms which provide interesting properties such as high resistance-to-mass ratio and compliance. Despite a growing interest for these mechanisms in robotics, the actuation selection of such mechanisms is still poorly discussed. In this paper, the influence of the actuation type and position, i.e. actuation mode, within the structure is assessed for a widely considered tensegrity mechanism, the Snelson cross. Actuation strategies of interest are proposed and performance criteria are defined to achieve fair comparison of the mechanisms. Performance maps are generated and the most interesting results are discussed. Finally, building blocks providing elementary motions are identified and compliant equivalences of conventional joints are proposed for the design of more complex tensegrity-based devices.

中文翻译：

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张拉整体机构驱动模式的选择：驱动 Snelson 交叉的案例研究

摘要 张拉整体机制是自应力和可展开的机制，提供有趣的特性，例如高阻力质量比和柔顺性。尽管机器人技术对这些机制的兴趣越来越大，但对这些机制的驱动选择的讨论仍然很少。在本文中，针对广泛考虑的张拉整体机制 Snelson 交叉，评估了结构内驱动类型和位置（即驱动模式）的影响。提出了感兴趣的驱动策略并定义了性能标准，以实现机制的公平比较。生成性能图并讨论最有趣的结果。最后，