This paper proposes design strategies and a comparative study of two antagonistically actuated tensegrity joints: a revolute (R) joint and an anti-parallelogram (X) joint. Geometrically, the R-joint has a fixed center of rotation while the X-joint has a moving center of rotation. Both joints are equipped with two lateral springs and are actuated by cables passing through these springs. Such tensegrity joints can be of interest for developing lightweight manipulators. They are designed to reach a prescribed wrench-feasible workspace (WFW) with a minimum desired stiffness throughout. The design strategy relies on the determination of the complete feasible design space for the problem, rather than resorting to a numerical optimizer for a particular solution. This approach provides more insight into the problem and also presents the designer with all the feasible designs. Several case studies are considered with different WFW specifications and design objectives for the R- and X- joints. The optimal designs obtained for the two joints are compared in terms of their actuation forces, stiffness, geometry, and mass.

本文提出了两种对抗性张紧关节的设计策略和比较研究：旋转关节（R）和反平行四边形（X）关节。在几何上，R关节具有固定的旋转中心，而X关节具有移动的旋转中心。两个关节均配备两个侧向弹簧，并由穿过这些弹簧的电缆驱动。这种张力关节对于开发轻型机械手可能是令人感兴趣的。它们的设计目的是达到规定的扳手可行工作空间（WFW），并在整个过程中保持最小的所需刚度。设计策略依赖于确定问题的完整可行设计空间，而不是针对特定解决方案求助于数值优化器。这种方法提供了对问题的更多见解，还为设计师提供了所有可行的设计。考虑了几个案例研究，它们具有不同的WFW规格和R型和X型接头的设计目标。比较了两个关节在驱动力，刚度，几何形状和质量方面的最佳设计。