Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms
Autor(a) principal: | |
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Data de Publicação: | 2019 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Latin American journal of solids and structures (Online) |
Texto Completo: | http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000300501 |
Resumo: | 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 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. |
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Latin American journal of solids and structures (Online) |
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|
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Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanismsTensegrityDeploymentReconfigurationInfinitesimal MechanismsControlAbstract 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.Associação Brasileira de Ciências Mecânicas2019-01-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000300501Latin American Journal of Solids and Structures v.16 n.3 2019reponame:Latin American journal of solids and structures (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/1679-78255331info:eu-repo/semantics/openAccessGonzález,AndrésLuo,AniShi,Dongyaneng2019-03-19T00:00:00Zoai:scielo:S1679-78252019000300501Revistahttp://www.scielo.br/scielo.php?script=sci_serial&pid=1679-7825&lng=pt&nrm=isohttps://old.scielo.br/oai/scielo-oai.phpabcm@abcm.org.br||maralves@usp.br1679-78251679-7817opendoar:2019-03-19T00:00Latin American journal of solids and structures (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false |
dc.title.none.fl_str_mv |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
title |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
spellingShingle |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms González,Andrés Tensegrity Deployment Reconfiguration Infinitesimal Mechanisms Control |
title_short |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
title_full |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
title_fullStr |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
title_full_unstemmed |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
title_sort |
Reconfiguration of multi-stage tensegrity structures using infinitesimal mechanisms |
author |
González,Andrés |
author_facet |
González,Andrés Luo,Ani Shi,Dongyan |
author_role |
author |
author2 |
Luo,Ani Shi,Dongyan |
author2_role |
author author |
dc.contributor.author.fl_str_mv |
González,Andrés Luo,Ani Shi,Dongyan |
dc.subject.por.fl_str_mv |
Tensegrity Deployment Reconfiguration Infinitesimal Mechanisms Control |
topic |
Tensegrity Deployment Reconfiguration Infinitesimal Mechanisms Control |
description |
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 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. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-01-01 |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000300501 |
url |
http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1679-78252019000300501 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1590/1679-78255331 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
text/html |
dc.publisher.none.fl_str_mv |
Associação Brasileira de Ciências Mecânicas |
publisher.none.fl_str_mv |
Associação Brasileira de Ciências Mecânicas |
dc.source.none.fl_str_mv |
Latin American Journal of Solids and Structures v.16 n.3 2019 reponame:Latin American journal of solids and structures (Online) instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM) instacron:ABCM |
instname_str |
Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM) |
instacron_str |
ABCM |
institution |
ABCM |
reponame_str |
Latin American journal of solids and structures (Online) |
collection |
Latin American journal of solids and structures (Online) |
repository.name.fl_str_mv |
Latin American journal of solids and structures (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM) |
repository.mail.fl_str_mv |
abcm@abcm.org.br||maralves@usp.br |
_version_ |
1754302890008117248 |