COLLECTIONS

Documents published in Scipedia

• Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms

  A. González-Fallas

  Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms (2019). González, Andrés, Luo, Ani and Shi, DongyanReconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms. Latin American Journal of Solids and Structures [online]. 2019, v. 16, n. 03

  
  

  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.

  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 [...]

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• Kinematic restriction method for tensegrity structures

  A. González-Fallas

  Rev. int. métodos numér. cálc. diseño ing. (2022). Vol. 38, (1), 16

  
  

  Abstract

  The use of tensegrity structures in robotics has been studied in recent years thanks to their properties of light weight, efficient distribution of forces and the possibility of applying control methods for the active shape reconfiguration, with crawling and rolling as examples. The structural composition of tensegrities, particularly the use of tensile elements, results in the presence of infinitesimal mechanisms. These affine motions have been considered for the development of control strategies that follow the manifold of stable positions described by these mechanisms. However, in robotic applications, the presence of rigid body motions can cause undesired effects, such as tensegrity structures flipping over. The form finding methods available in literature consider only the statics of tensegrities and most dynamic models work assume free-standing structures, while few consider fixed structures but do not deepen into the process of removing the rigid body motions. In this paper, the formulation of the equilibrium equations of tensegrity structures is reviewed, to describe the presence of the affine motions in the vector spaces of the equilibrium matrix. A simplified method for removing rigid body motions from the equilibrium equations is detailed, and the effect on the set of affine motions is explained. To verify the validity of this process, two numerical examples are given, including a single unit and a two stage tensegrity structures.

  Abstract
  The use of tensegrity structures in robotics has been studied in recent years thanks to their properties of light weight, efficient distribution of forces and the possibility [...]

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• Use of the SVD method for the stability analysis of tensegrity structures

  A. González-Fallas, A. Luo

  Rev. int. métodos numér. cálc. diseño ing. (2018). Vol. 34, (1), 30

  
  

  Abstract

  In this paper, the application of the singular value decomposition SVD for the analysis of tensegrity structures is presented. For this purpose, the SVD method is described generally, without detailing the calculating method. Next, the equilibrium equations of tensegrity structures are defined. The solution to the homogeneous system of equilibrium of the tensegrity structures is developed using the SVD method, and the meaning of the values in the matrices is presented. The method is used for the solution of several structures, some of them widely studied and some new.

  Abstract
  In this paper, the application of the singular value decomposition SVD for the analysis of tensegrity structures is presented. For this purpose, the SVD method is described [...]

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Conference papers and presentations (Documents not available in Scipedia)

• Study of a novel design for self-standing tensegrity domes

  Ani Luo, Heping Liu

  IASS Annual Symposium 2017

• Construction of a unit cell tensegrity structure

  Ani Luo, Heping Liu

  IFToMM World Conference 2015