RECONFIGURATION OF MULTI-STAGE TENSEGRITY STRUCTURES USING INFINITESIMAL MECHANISMS
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 MULTI-STAGE 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.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License [CC BY] that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).