Kinematic analysis of a planar tensegrity mechanism forwave energy harvesting

    Research output: Chapter in Book/Report/Conference proceedingBook chapter as a result of researchpeer-review

    6 Scopus citations


    Tensegrity systems have been used in several disciplines such as architecture, biology, aerospace, mechanics and robotics during the last fifty years. However, just a few references in literature have stated the possibility of using them in ocean or energy-related applications. This work addresses the kinematic analysis of a planar 3–dof tensegrity mechanism for ocean wave energy harvesting. A planar tensegrity mechanism is proposed based on the “X-frame” morphology developed by Kenneth Snelson in 1960s. A geometric approach is used to solve the forward and reverse displacement problems. The theory of screws is used to perform the forward and reverse velocity analyses of the device. The result of shows that tensegrity systems could play an important roll in the expansion of clean energy technologies that help the world’s sustainable development.

    Original languageEnglish
    Title of host publicationLatest Advances in Robot Kinematics
    PublisherSpringer Netherlands
    Number of pages8
    ISBN (Electronic)9789400746206
    ISBN (Print)9789400746190
    StatePublished - 1 Jan 2012

    Bibliographical note

    Publisher Copyright:
    © Springer Science+Business Media Dordrecht 2012.


    • Planar mechanisms
    • Tensegrity
    • Wave energy


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