  In this article a multi-segmented planar tensegrity mechanism was presented.
This mechanism has a three-segment structure with each segment residing on top
of another. The size of the segments may decrease proportionally from base to
top, resulting in a tapered shape from base to tip like an elephant trunk. The
system was mechanically formulated as having linear springs and cables
functioning as actuators. The singularities, as well as the stability of the
parallel mechanism, were analyzed by using the principle of minimum energy.
Optimization was also done to obtain the greatest angular deflection for a
segment according to a ratio between the size of the base and the moving
platform of the robotic system. The result of this work is a family of
mechanisms that can generate the same workspace for different stability
properties.
