Deployable Tensegrity Masts

Tibert, Gunnar; Pellegrino, Sergio

doi:10.2514/6.2003-1978

Cited by 160 publications

(51 citation statements)

References 7 publications

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“…Moussa et al (2001) showed that the fundamental modes of simplex type modules are those corresponding to internal mechanisms and proposed a direct relation between self-stress and first natural frequency. Dubé et al (2008), for a tensegrity minigrid, as well as Tibert and Pellegrino (2003), for a deployable tensegrity mast, obtained similar results.…”

Section: Analytical Formulationsupporting

confidence: 86%

Dynamic behavior and vibration control of a tensegrity structure

Ali

Smith

2010

International Journal of Solids and Structures

113

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a b s t r a c tTensegrities are lightweight space reticulated structures composed of cables and struts. Stability is provided by the self-stress state between tensioned and compressed elements. Tensegrity systems have in general low structural damping, leading to challenges with respect to dynamic loading. This paper describes dynamic behavior and vibration control of a full-scale active tensegrity structure. Laboratory testing and numerical simulations confirmed that control of the self-stress influences the dynamic behavior. A multi-objective vibration control strategy is proposed. Vibration control is carried out by modifying the self-stress level of the structure through small movement of active struts in order to shift the natural frequencies away from excitation. The PGSL stochastic search algorithm successfully identifies good control commands enabling reduction of structural response to acceptable levels at minimum control cost.

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Section: Analytical Formulationsupporting

confidence: 86%

Dynamic behavior and vibration control of a tensegrity structure

Ali

Smith

2010

International Journal of Solids and Structures

113

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“…Typically, these parameters are the lengths (Tibert and Pellegrino, 2003b), the rest lengths (Sultan and Skelton, 2003), or the forces and torques applied to some of the elements of the tensegrity structure (Sultan, 2014). In any case, the steps should be small enough, i.e., ∆v j < δ with a given parameter δ, so that the linear interpolation between configurations x j−1 and x j is close to E and it can be safely assumed to be collision-free, provided that both configurations are non-colliding.…”

Section: Tracing Paths On the Equilibrium Manifoldmentioning

confidence: 99%

Path planning for active tensegrity structures

Porta

Hernández-Juan

2016

International Journal of Solids and Structures

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This paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of kinematic and static constraints. The exploration of this manifold is difficult with standard methods due to the lack of a global parametrization. Thus, this paper proposes the use of techniques with roots in differential geometry to define an atlas, i.e., a set of coordinated local parameterizations of the equilibrium manifold. This atlas is exploited to define a rapidly-exploring random tree, which efficiently finds valid paths between configurations. However, these paths are typically long and jerky and, therefore, this paper also introduces a procedure to reduce their control effort. A variety of test cases are presented to empirically evaluate the proposed method.

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“…Their design involves a circuit of compressed components that enhances bending stiffness [4]. Ring modules have also been shown to be deployable.…”

Section: Tensegrity Ring Modulesmentioning

confidence: 99%

“…Researchers have now broadened the domain of tensegrity systems to include those that have continuous compression members. Continuous compression members increase the bending stiffness of the system [4].…”

Section: Introductionmentioning

confidence: 99%

Design of tensegrity structures using parametric analysis and stochastic search

Rhode-Barbarigos

Jain

Kripakaran

et al. 2009

Engineering with Computers

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Tensegrity structures are lightweight structures composed of cables in tension and struts in compression. Since tensegrity systems exhibit geometrically nonlinear behavior, finding optimal structural designs is difficult. This paper focuses on the use of stochastic search for the design of tensegrity systems. A pedestrian bridge made of square hollow-rope tensegrity ring modules is studied. Two design methods are compared in this paper. Both methods aim to find the minimal cost solution. The first method approximates current practice in design offices. More specifically, parametric analysis that is similar to a gradient-based optimization is used to identify good designs. Parametric studies are executed for each system parameter in order to identify its influence on response. The second method uses a stochastic search strategy called Probabilistic Global Search Lausanne (PGSL). Both methods provide feasible configurations that meet civil engineering criteria of safety and serviceability. Parametric studies also help in defining search parameters such as appropriate penalty costs to enforce constraints while optimizing using stochastic search. Traditional design methods are useful to gain an understanding of structural behavior. However, due to the many local minima in the solution space, stochastic search strategies find better solutions than parametric studies.

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Deployable Tensegrity Masts

Cited by 160 publications

References 7 publications

Dynamic behavior and vibration control of a tensegrity structure

Dynamic behavior and vibration control of a tensegrity structure

Path planning for active tensegrity structures

Design of tensegrity structures using parametric analysis and stochastic search

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