Tensegrity structures are special truss structures composed of bars in compression and cables in tension. Most tensegrity structures under investigation, to date, have been of Class 1, where bars do not touch. In this article, however, we demonstrate the hardware implementation of a 2 stage symmetric Class 2 tensegrity structure, where bars do connect to each other at a pivot. The open loop control law for tendon lengths to accomplish the desired geometric reconfiguration are computed analytically. The velocity of the structure's height is chosen and reconfiguration is accomplished in a quasi-static manner, ignoring dynamic effects. The main goal of this research was to design, build, and test the capabilities of the Class 2 structure for deployment concepts and to further explore the possibilities of multiple stage structures using the same design and components.
Tensegrity structures consist of tendons (in tension) and bars (in
compression). Tendons are strong, light, and foldable, so
tensegrity structures have the potential to be light but strong
and deployable. Pulleys, NiTi wire, or other actuators to
selectively tighten some strings on a tensegrity structure can be
used to control its shape. This article describes the problem of
asymmetric reconfiguration of tensegrity structures and poses one
method of finding the open loop control law for tendon lengths to
accomplish the desired geometric reconfiguration. In addition, a
practical hardware experiment displays the readiness and
feasibility of the method to accomplish shape control of the
structure.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.