Related papers: Soft Tensegrity Systems for Planetary Landing and …
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…
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 paper presents a novel application of tensegrity systems as lightweight and noninvasive braces for seismically resistant structures. The analyzed braces consist of D-bar systems equipped with shape memory alloy cables with superelastic…
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…
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…
Living organisms intertwine soft (e.g., muscle) and hard (e.g., bones) materials, giving them an intrinsic flexibility and resiliency often lacking in conventional rigid robots. The emerging field of soft robotics seeks to harness these…
A tensegrity tower design to support a given payload for the moon mining operation is proposed in this paper. A non-linear optimization problem for the minimal-mass structure design is posed and solved, subject to the yielding constraints…
The dynamical properties of tensegrity robots give them appealing ruggedness and adaptability, but present major challenges with respect to locomotion control. Due to high-dimensionality and complex contact responses, data-driven approaches…
Lunar explorations have provided us with information about its abundant resources that can be utilized in orbiting-resource depots as lunar-derived commodities. To reduce the energy requirements of a launcher to send these commodities from…
Purpose: Six million people use crutches as mobile aids in the US. Rigid designs with no axial mobility limit sensory feedback and lead to secondary injury on the upper joints. Spring-loaded designs offer compliance but may compromise…
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,…
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 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…
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…
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…
We study the geometrically nonlinear behavior of uniformly compressed tensegrity prisms, through fully elastic and rigid--elastic models. The presented models predict a variety of mechanical behaviors in the regime of large displacements,…
Tensegrity structures are becoming widely used in robotics, such as continuously bending soft manipulators and mobile robots to explore unknown and uneven environments dynamically. Estimating their shape, which is the foundation of their…
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…
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…
Lattice-like cellular materials, with their unique combination of lightweight, high strength, and good deformability, are promising for engineering applications. This paper investigates the energy-absorbing properties of four truss-lattice…