相关论文: Kinetostatic analysis and solution classification …
Tensegrity mechanisms have several interesting properties that make them suitable for a number of applications. Their analysis is generally challenging because the static equilibrium conditions often result in complex equations. A class of…
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,…
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…
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…
It is shown that a compound elastic structure, which displays a dynamic instability, may be designed as the union (or 'fusion') of two structures which are stable when separately analyzed. The compound elastic structure has two degrees of…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
We generalize the scalar tensor bigravity models to the non-minimal kinetic coupling scalar tensor bigravity models with two scalar fields whose kinetic terms are non-minimally coupled to two Einstein tensors constructed by two metrics. We…
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 are frameworks in a stable self-equilibrated prestress state that have been applied in various fields in science and engineering. Research into tensegrity structures has resulted in reliable techniques for their form…
A kinetic model for granular mixtures is considered to study three different non-equilibrium situations. The model is based on the equivalence between a gas of elastic hard spheres subjected to a drag force proportional to the particle…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
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…
The stability of the multiple equilibrium states of a hexagram ring with six curved sides is investigated. Each of the six segments is a rod having the same length and uniform natural curvature. These rods are bent uniformly in the plane of…
The use of global displacement basis functions to solve boundary-value problems in linear elasticity is well established. No prior work uses a global stress tensor basis for such solutions. We present two such methods for solving stress…
We study a class of noncanonical real scalar field models in $(1+1)$-dimensional flat space-time. We first derive the general criterion for the classical linear stability of an arbitrary static soliton solution of these models. Then we…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
A classical tensegrity model consists of an embedded graph in a vector space with rigid bars representing edges, and an assignment of a stress to every edge such that at every vertex of the graph the stresses sum up to zero. The tensegrity…
Robustness of linear systems with constant coefficients is considered. There exist methods and tools for analyzing the stability of systems with random or deterministic uncertainties. At the same time, there are no approaches for the…
Kinetic traps are a notorious problem in equilibrium statistical mechanics, where temperature quenches ultimately fail to bring the system to low energy configurations. Using multifarious self-assembly as a model system, we introduce a…
We discuss elastic tensegrity frameworks made from rigid bars and elastic cables, depending on many parameters. For any fixed parameter values, the stable equilibrium position of the framework is determined by minimizing an energy function…