Related papers: Mechanical modeling of superelastic tensegrity bra…
During the last decade, tensegrity systems have been the focus of numerous investigations exploring the possibility of adopting them for planetary landing and exploration applications. Early approaches mainly focused on locomotion aspects…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
In this paper, lightweight metastructures are designed consisting of prismatic tensegrity building blocks which have excellent strength-to-weight ratio and also enable unique compression-torsion coupling. A theoretical model with coupled…
Many mechanical structures, both engineered and biological, combine heavy rigid elements such as bones and beams with lightweight flexible ones such as cables and membranes. These are referred to as tensegrities, reflecting that cables can…
The present paper is concerned with the formulation of new assembly methods of bi-material tensegrity prisms, and the experimental characterization of the compressive response of such structures. The presented assembly techniques are easy…
Tensegrity structures are special architectures made by floating compressed struts kept together by a continuous system of tensed cables. The multiplicity of shapes that tensegrity structures can assume and their intrinsic capability to be…
This research proposes and evaluates a superelastic memory alloy re-centering damper system for improving the reaction of steel frame buildings that have been exposed to several levels of seismic threat. The planned superelastic memory…
Architected materials that exploit buckling instabilities to reversibly trap energy have been shown to be effective for impact protection. The energy-absorbing capabilities of these architected materials can be enhanced further by…
This paper presents a Lagrangian approach to simulating multibody dynamics in a tensegrity framework with an ability to tackle holonomic constraint violations in an energy-preserving scheme. Governing equations are described using…
An investigation on the additive manufacturing and the experimental testing of 3D models of tensegrity prisms and columns is presented. An electron beam melting facility (Arcam EBM S12) is employed to 3D print structures composed of…
In the design of tensegrity structures, traditional form-finding methods utilize kinematic and static approaches to identify geometric configurations that achieve equilibrium. However, these methods often fall short when applied to actual…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity…
Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…
This work presents a numerical investigation on the nonlinear wave dynamics of tensegrity beams in 1D, 2D and 3D arrangements. The simulation of impact loading on a chain of tensegrity prisms and lumped masses allows us to apply on a…
Numerical modeling of different structural materials that have highly nonlinear behaviors has always been a challenging problem in engineering disciplines. Experimental data is commonly used to characterize this behavior. This study aims to…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top,…
Tensegrity robots are composed of rigid struts and flexible cables. They constitute an emerging class of hybrid rigid-soft robotic systems and are promising systems for a wide array of applications, ranging from locomotion to assembly. They…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…