Abstract
This paper describes a method to identify compliant tensegrity structures with multiple states of self-equilibrium. The considered algorithm is based on the repeated use of a form-finding procedure, using the static Finite-Element-Method. The algorithm can be used to develop compliant multistable tensegrity mechanisms with simple topologies. Therefore three planar tensegrity mechanisms with two or three stable equilibrium configurations are exemplary considered and verified experimentally.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Arsenault, M., et al.: Kinematic, static and dynamic analysis of a planar 2-DOF tensegrity mechanism. J. Mech. Mach. Theory 41(9), 1072–1089 (2006)
Boehler, Q. et al.: Definition and computation of tensegrity mechanism workspace. J. Mech. Robot. 7(4), Paper No: JMR-14-1168, 4 pp (2015)
Böhm, V., et al.: An approach to the dynamics and control of a planar tensegrity structure with application in locomotion systems. Int. J. Dyn. Control 3(1), 41–49 (2015)
Caluwaerts, K. et al.: Design and control of compliant tensegrity robots through simulation and hardware validation. J. R. Soc. Interf. 11, Paper No: 20140520, 13 pp (2014)
Defossez, M.: Shape memory effect in tensegrity structures. Mech. Res. Commun. 30(4), 311–316 (2003)
González, A. et al.: Construction of a unit cell Tensegrity structure. In: Proceedings of 14th IFToMM World Congress, Taipei, doi:10.6567/IFToMM.14TH.WC.OS13.017 (2015)
Juan, H.S., et al.: Tensegrity frameworks: Static analysis review. J. Mech. Mach. Theory 43(7), 859–881 (2008)
Guest, S.: The stiffness of prestressed frameworks: A unifying approach. Int. J. Solids Struct. 43(3–4), 842–854 (2006)
Micheletti, A.: Bistable regimes in an elastic tensegrity system. Proc. R. Soc. A 469(2154) (2013)
Mirats Tur, J.M., et al.: Tensegrity frameworks: dynamic analysis review and open problems. J Mech. Mach. Theory 44(1), 1–18 (2009)
Moon, Y., et al.: Reverse kinetostatic analysis and stiffness synthesis of a spatial tensegrity-based compliant mechanism. J Mech. Mach. Theory 70, 320–337 (2013)
Skelton, R.E. et al.: Tensegrity Systems. Springer (2009)
Turakhia, D.G.: Dynamic Tensegrity Systems—Investigating a case in reconfigurable habitable structures. In: Proceedings of. International Conference on Computer-Aided Architectural Design Research in Asia, pp. 97–106 (2013)
Xu, X., et al.: Multistable Tensegrity structures. J. Struct. Eng. 137(1), 117–123 (2011)
Zhang, J.Y., et al.: Tensegrity Structures—Form, Stability, and Symmetry. Springer, (2015)
Zhang, L.Y., et al.: Stiffness matrix based form-finding method of tensegrity structures. Eng. Struct. 58, 36–48 (2014)
Acknowledgments
This work is supported by the Deutsche Forschungsgemeinschaft (DFG project BO4114/2-1).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this paper
Cite this paper
Böhm, V., Sumi, S., Kaufhold, T., Zimmermann, K. (2017). Compliant Multistable Tensegrity Structures with Simple Topologies. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_16
Download citation
DOI: https://doi.org/10.1007/978-3-319-44156-6_16
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-44155-9
Online ISBN: 978-3-319-44156-6
eBook Packages: EngineeringEngineering (R0)