Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms

Abstract

The use of tensegrity structures in soft robotics has seen an increased interest in recent years thanks to their mechanical properties, but the control of these systems remains an open problem. This paper presents a reconfiguration strategy for actuated multi-stage tensegrity structures. The algorithm works on the principle of using the infinitesimal mechanisms of the structure to generate a path of positions along which a multistage tensegrity structure can change its shape while maintaining the self-equilibrium. Combining the force density method with a marching procedure, the solution to the equilibrium problem is given by a set of differential equations that define the kinematic constraints of the structure. Beginning from an initial stable position, the algorithm calculates a small displacement until a new stable configuration is reached, and recurrently repeats the process during a given interval of time. By means of three numerical examples, we show the efficacy of our algorithm for reconfiguring a two-stage tensegrity mast along different directions.

Embodied Cognitive Morphogenesis as a Route to Intelligent Systems

“…The first is homeostasis, where tensegrity reinforces stable structure. In soft robotic actuation, adjustable tensegrity structures are required to maintain homeostasis [48]. Dynamic structures occur during morphogenesis, and are representative of the flexibility of tensegrity structures as compression increases relative to tension, allowing for stability and continuity in the face of transformation.…”

In Search of Lightweight Deployable Tensegrity Columns

“…Out of many possible approaches to the analysis of such structures [12,15,21], the authors decided to use the one proposed in [17], which combines the finite element method (FEM) and the multibody dynamics (MBD) simulations. Finite element modeling enables qualitative and quantitative analyses of the behavior of deformable structures with the defined boundary conditions and loading.…”

“…Its structure was based on the system developed by Snelson [14]-a mast constructed from overlapped regular simplex modules. Another structure of this type was proposed in [15], where the authors presented an algorithm for the reconfiguration of a two-stage tensegrity mast. Another work [16] explored possible deployment scenarios of tensegrity systems.…”

“…The response of the structure was analyzed numerically using a dynamic relaxation algorithm. Another approach was proposed in [15], where a reconfiguration study of multi-stage tensegrity systems was discussed. The authors used the infinitesimal mechanisms to generate a path of positions along which a multi-stage tensegrity can change its shape.…”

Nonlinear Dynamic Response and Stability Analysis of a Tensegrity Bridge to Selected Cable Rupture

“…Recently, Atig et al (2019) studied the dynamic stability of a Geiger's dome and focused on the effect of active damping on the stability of the structure. González et al (2019) proposed a new reconfiguration strategy for actuated multistage tensegrity structuresusing infinitesimal mechanism. They combined the force density method with a marching procedure to solve the equilibrium problem based on differential equations defining the kinematic constraints of the system.…”