Four-bar tensegrity robot based on ADAMS simulation

Luo, Ani; Wang, Jiandong; Li, Heping

doi:10.1109/icma.2017.8016032

Cited by 5 publications

(5 citation statements)

References 9 publications

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“…However, while they discussed the active deformation behavior, local soft modes that arise in such structures are not considered, limiting the serious applicability for tensegrity engineering. Some of the other works that consider the behavior of tensegrity towers include Luo et al (2017); Oh et al (2019);Ben Kahla et al (2020); Li et al (2020); Yıldız and Lesieutre (2020). The concept of deployable tensegrity is re-visited by Liu et al (2017) where they proposed the usage of soft elastomers for the programmable deployment of these tensegrities.…”

Section: Tensegrity Towersmentioning

confidence: 99%

“…In the last years, there has been a renewed interest in the area of tensegrities, including ideas and discussions in the areas of tensegrity metamaterials (Fraternali et al 2012;Wang et al 2020b), bio-tensegrities (Chai Lian et al 2020, planetary lander modules (Garanger et al 2021), tensegrity-inspired structures (Luo et al 2017;Pajunen et al 2019;Yıldız and Lesieutre 2020;Ma et al 2020;Mirzaaghazadeh et al 2020), foldable structures (Yang and Sultan 2019). Of particular interest to this work are those that discuss the mechanics of tensegrities and form-finding methods and shall be highlighted.…”

Section: Introductionmentioning

confidence: 99%

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Mathematics of stable tensegrity structures

Harish¹,

Nandurdikar²,

Deshpande³

et al. 2023

Journal of Theoretical, Computational and Applied Mechanics

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Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods proposed continue to produce structures with one or more soft/swinging modes. These modes have been vividly highlighted and outlined as the grounds for these structures to be unsuitable as engineering structures. This work proposes a relationship between the number of rods and strings to satisfy the full-rank convexity criterion as a part of the form-finding process. Using the proposed form-finding process for the famous three-rod tensegrity, the work proposes an alternative three-rod ten-string that is stable. The work demonstrates that the stable tensegrities suitable for engineering are feasible and can be designed.

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Section: Tensegrity Towersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mathematics of stable tensegrity structures

Harish¹,

Nandurdikar²,

Deshpande³

et al. 2023

Journal of Theoretical, Computational and Applied Mechanics

View full text Add to dashboard Cite

show abstract

“…In the last years, there has been a renewed interest in the area of tensegrities, including ideas and discussions in the areas of tensegrity metamaterials [15,30,60], bio-tensegrities [7], planetary lander modules [18], tensegrity-inspired structures [32,45,67,33,35], foldable structures [65]. Of particular interest to this work are those that discuss the mechanics of tensegrities and form-finding methods and shall be highlighted.…”

Section: Introductionmentioning

confidence: 99%

“…However, while they discuss the active deformation behavior, local soft modes that arise in such structures are not considered, limiting the serious applicability for tensegrity engineering. Some of the other works that consider the behavior of tensegrity towers include Luo et al [32], Oh et al [40], Kahla et al [21], Li et al [27], Yıldız and Lesieutre [67]. The concept of deployable tensegrity is re-visited by Liu et al [29] where they propose the usage of soft elastomers for the programmable deployment of these tensegrities.…”

Section: Introductionmentioning

confidence: 99%

Mathematics of Stable Tensegrity Structures

Harish¹,

Deshpande²,

Rachel³

2021

Preprint

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Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods proposed continue to produce structures with one or more soft/swinging modes. These modes have been vividly highlighted and outlined as the grounds for these structures to be unsuitable as engineering structures. This work proposes a relationship between the number of rods and strings to satisfy the full-rank convexity criterion as a part of the form-finding process. Using the proposed form-finding process for the famous three-rod tensegrity, the work proposes an alternative three-rod ten-string that is both stable. The work demonstrates that the stable tensegrities suitable for engineering are feasible and can be designed.

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“…Recently, researchers focused their attention on tensegrity robots, which are tensegrity structures with incorporated actuation mechanisms [34]- [38]. Compared to traditional robot manipulators, tensegrity robots possess several advantages, such as low weight, relatively large strength, self-deformation, and folding abilities, easy deployability, and capability to safely survive brief shocks and impacts [35], [36]. Incorporating NSHs into tensegrity robots might further improve their static and dynamic characteristics.…”

Section: Introductionmentioning

confidence: 99%

Dynamics of Tensegrity Robots With Negative Stiffness Elements

et al. 2020

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Tensegrity structures have unique features such as low mass to payload ratio, strength, and robustness. Therefore, they present great potential in robotics, aerospace, and civil engineering. The dynamics of tensegrity robots is highly nonlinear and constrained. As a result, their modeling, simulation, state estimation, and control are non-trivial. Strings in tensegrity structures are usually modeled as linear springs. Utilization of nonlinear elastic/damping elements in tensegrities would further enrich their dynamics and endow them with additional properties, such as multiple equilibrium configurations. In this paper, our preliminary work on the dynamics of actuated tensegrities with strings containing nonlinear elastic and/or damping elements is presented. At first, the formulation of tensegrity dynamics with general nonlinear elastic/damping elements is explored. Later dynamics of tensegrities with negative stiffness honeycombs incorporated into strings are considered. Simulations are performed on three tensegrity systems: two-bar, three-bar, and six-bar structures. Results demonstrate that negative stiffness honeycombs result in nonlinear steady-state response to constant external force, reduced force magnitudes in strings and bars, and increased range of motion.INDEX TERMS negative stiffness beam, nonlinear stiffness element, nonlinear damping element, tensegrity, tensegrity dynamics with negative stiffness honeycomb.

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Four-bar tensegrity robot based on ADAMS simulation

Cited by 5 publications

References 9 publications

Mathematics of stable tensegrity structures

Mathematics of stable tensegrity structures

Mathematics of Stable Tensegrity Structures

Dynamics of Tensegrity Robots With Negative Stiffness Elements

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