A novel method of determining the sole configuration of tensegrity structures

Feng, Xiaodong; Guo, Shuaicheng

doi:10.1016/j.mechrescom.2015.06.012

Cited by 30 publications

(11 citation statements)

References 39 publications

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“…Hence, to analyze a clustered tensegrity system, the following basic assumptions are adopted: Both standard cables and clustered cables can only bear tensile forces. Struts and standard cables are connected by pin joints. Clustered cables are connected by frictionless pulleys. Both local and global bucking of the structure are neglected. The prestress conditions have been achieved from our previous work. () All loads are applied on joints, and the high order of stiffness increment caused by external loads are neglected. …”

Section: Dynamic Model Of Clustered Tensegritiesmentioning

confidence: 99%

“…In equation , the elemental stiffness matrix K b e is also known as the tangent stiffness matrix . The process in deriving the elemental stiffness is shown in Table ,() where

E, A_{c}, d_{g}, normalΔ l, l^{t}, ϵ_{0}, T_{i}

and Y c are young modulus, elemental cross area, global displacement vector, elemental length changes, elemental length at time t , initial strain under prestress, elemental transformation matrix and constant matrix, respectively.…”

Section: Dynamic Model Of Clustered Tensegritiesmentioning

confidence: 99%

“…Table summarized the geometrical and mechanical properties of elements, which were determined from our previous studies. () The external loading was selected as a piecewise function, given as:

boldF false(t false) = ({, \begin{matrix} centerarray \\ array 1000 s i n (2 t + \frac{π}{3}), t \in [0 50] \\ array 0, o t h e r w i s e \end{matrix})

…”

Section: Numerical Case Studymentioning

confidence: 99%

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Energy-based comparative analysis of optimal active control schemes for clustered tensegrity structures

Feng

Miah

2018

Struct Control Health Monit

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This study performs a series of numerical investigations of a novel energy-based control approach for effective vibration control of clustered tensegrity structures via different optimal active control algorithms. The comparative study among different control algorithms of clustered tensegrities are often challenging due to the geometrical non-linearity, complex loading conditions and assemblage uncertainties of structural components. In order to overcome these technical difficulties, an actuator input energy-based method is herein implemented to assess the optimal dynamic performances of clustered tensegrity structures via distinct optimal active control schemes. As a quantification tool, the structural displacement and elemental forces monitored from both the whole structure level and the elemental level were applied to assess control efficiency based on the same amount of actuator energy input. Specifically, the control efficiency comparisons are realized by setting identical energy input to actuated elements via linear-quadratic-Gaussian (LQG) and  ∞ algorithms. Different actuator placements of clustered cables and struts are considered and the control efficiency coefficients of the proposed method are examined through a spatial clustered tensegrity beam. The outcomes from the illustrative example indicate that the proposed method is efficient and reliable in comparative analyzing of different optimal active control schemes for clustered tensegrity structures, which implies the prospect of the investigated approach in analyzing and solving actual engineering problems. KEYWORDS active control algorithms, actuator placements, clustered tensegrity structures, control efficiency, energy-based control Struct Control Health Monit. 2018;25:e2215.wileyonlinelibrary.com/journal/stc

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Section: Dynamic Model Of Clustered Tensegritiesmentioning

confidence: 99%

“…In equation , the elemental stiffness matrix K b e is also known as the tangent stiffness matrix . The process in deriving the elemental stiffness is shown in Table ,() where

E, A_{c}, d_{g}, normalΔ l, l^{t}, ϵ_{0}, T_{i}

Section: Dynamic Model Of Clustered Tensegritiesmentioning

confidence: 99%

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Energy-based comparative analysis of optimal active control schemes for clustered tensegrity structures

Feng

Miah

2018

Struct Control Health Monit

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“…Similarly, Feng and Guo [21] presented a form-finding strategy that consists of a numerical algorithm designed to find the equilibrium position of class 1 and 2 tensegrity structures, without generating a hypothesis about the initial nodal coordinates, the lengths of the elements, the properties of the material, the symmetry of the structure or the condition of the force density matrix. Obara et al [22] used a qualitative analysis of truss matrices, which consist of the compatibility matrix and stiffness matrix with the effect of self-equilibrated forces, established using the finite element method, to search for a 2D tensegrity form.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the total mass of the robot is known. The static analysis requires knowing the set of forces applied by the flexible elements on the moving platform to ensure that the robot is in a geometric equilibrium configuration, according to the conditions described in Equations (20) and (21).…”

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confidence: 99%

Form-Finding Analysis of a Class 2 Tensegrity Robot

et al. 2019

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In this paper, a new form-finding analysis methodology for a class 2 tensegrity robot is proposed. The methodology consists of two steps: first, the analysis of the possible geometric configurations of the robot is carried out through the results of the kinematic position analysis; and, second, from the static analysis, the equilibrium positions of the robot are found, which represents its workspace. Both kinematics and static analysis are resolved in a closed-form using basic tools of linear algebra instead of the strategies used in literature. Four numerical experiments are presented using the finite element analysis software ANSYS c . Additionally, a comparison between the results of the form-finding analysis methodology proposed and the ANSYS c results is presented.

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