STEDY: Software for TEnsegrity DYnamics

Tadiparthi, Vaishnav; Hsu, Shao‐Chen; Bhattacharya, Raktim

doi:10.21105/joss.01042

Cited by 6 publications

(3 citation statements)

References 4 publications

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“…Few software packages have been developed for the analysis of tensegrity statics and dynamics. For example, STEDY (Tadiparthi et al, 2019) is a package for conducting tensegrity dynamics with rigid bars based on the Lagrangian method. MOTES (Goyal et al, 2019) is software for the analysis of both statics and dynamics with rigid bars and linear elastic strings.…”

Section: Statement Of Needmentioning

confidence: 99%

TsgFEM: Tensegrity Finite Element Method

Ma¹,

Chen²,

Skelton³

2022

JOSS

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Section: Statement Of Needmentioning

confidence: 99%

TsgFEM: Tensegrity Finite Element Method

Ma¹,

Chen²,

Skelton³

2022

JOSS

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“…Preserving the order of constraint violations as observed in the second example, Figure 14 and 13(b) demonstrate the ability of the implemented correction method to maintain stability of the constraints despite an in-crease in complexities associated with 3 dimensions. The videos capturing the real-time motion of the structures and the relevant code to generate simulations are publicly available [48].…”

Section: Examplementioning

confidence: 99%

A Lagrangian Method for Constrained Dynamics in Tensegrity Systems with Compressible Bars

Hsu¹,

Tadiparthi²,

Bhattacharya³

2020

Preprint

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This paper presents a Lagrangian approach to simulating multibody dynamics in a tensegrity framework with an ability to tackle holonomic constraint violations in an energy-preserving scheme. Governing equations are described using non-minimum coordinates to simplify descriptions of the structure's kinematics. To minimize constraint drift arising from this redundant system, the direct correction method has been employed in conjunction with a novel energy-correcting scheme that treats the total mechanical energy of the system as a supplementary constraint. The formulation has been extended to allow tensegrity structures with compressible bars, allowing for further discussion on potential choices for softer bar materials. The benchmark example involving a common tensegrity structure demonstrates the superiority of the presented formulation over Simscape Multibody in terms of motion accuracy as well as energy conservation. The effectiveness of the energy correction scheme is found to be increasing with the extent of deformations in the structure.

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“…In order to satisfy the constant bar length constraint, we use an analytical correction step to eliminate the approximation errors at each integration step. STEDY, a similar tensegrity simulator, uses a different correction step and formulation to run the dynamics (Tadiparthi, Hsu, & Bhattacharya, 2019). The added advantage with MOTES is the ability to model massive strings and to design minimum mass structures using static analysis.…”

Section: Advantages and Applicationsmentioning

confidence: 99%