Analysis of Tensegrity Dynamics
Throughout this chapter we construct dynamic models in the form of ordinary differential equations for tensegrity structures. We make the following assumptions: a) Rods are rigid, thin, and long and so rotational motion about the longitudinal axis can be neglected. b) Strings are massless elastic elements with Hookean (linear) behavior only when in tension. c) The connectivity of the structure is fixed.
KeywordsGeneralize Force Projection Matrix Tensegrity Structure Rigid Body Mode Penrose Inverse
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