相关论文: Mechanical modeling of superelastic tensegrity bra…

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,…

This paper reviews recent literature results on the mechanics of structures formed by layers of pentamode lattices alternating with stiffening plates, which can be effectively employed for the development of seismic isolation devices and…

Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the…

This paper investigates the use of the most fundamental elements; cables for tension and bars for compression, in the search for the most efficient bridges. Stable arrangements of these elements are called tensegrity structures. We show…

We study lightweight, elastic metamaterials consisting of tensegrity-inspired prisms, which present wide, low-frequency band gaps. For their realization, we alternate tensegrity elements with solid discs in periodic arrangements that we…

Tensegrities synergistically combine tensile (cable) and rigid (link) elements to achieve structural integrity, making them lightweight, packable, and impact resistant. Consequently, they have high potential for locomotion in unstructured…

This paper presents a new teleoperated spherical tensegrity robot capable of performing locomotion on steep inclined surfaces. With a novel control scheme centered around the simultaneous actuation of multiple cables, the robot demonstrates…

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…

Predicting region-wide structural responses under seismic shaking is essential for enhancing the effectiveness of earthquake engineering task forces such as earthquake early warning and regional seismic risk and resilience assessments.…

A discrete tensegrity framework can be thought of as a graph in Euclidean n-space where each edge is of one of three types: an edge with a fixed length (bar) or an edge with an upper (cable) or lower (strut) bound on its length. Roth and…

The paper presents an effective macro-modelling approach, utilising an anisotropic material model with embedded discontinuities, for masonry arches and bridges under cyclic loading, including dynamic actions induced by earthquakes.…

Inspired by the Melan equation we propose a model for suspension bridges with two cables linked to a deck, through inextensible hangers. We write the energy of the system and we derive from variational principles two nonlinear and nonlocal…

The article analyses two potential metamaterial designs, the metafoundation and the metabarrier, capable to attenuate seismic waves on buildings or structural components in a frequency band between 3.5 to 8 Hz. The metafoundation serves the…

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…

Biomimicry has played a pivotal role in robotics. In contrast to rigid robots, bio-inspired robots exhibit an inherent compliance, facilitating versatile movements and operations in constrained spaces. The robot implementation in…

The cytoskeleton (CSK) plays an important role in many cell functions. Given the similarities between the mechanical behavior of tensegrity structures and the CSK, many studies have proposed different tensegrity-based models for simulating…

Future robots will navigate perilous, remote environments with resilience and autonomy. Researchers have proposed building robots with compliant bodies to enhance robustness, but this approach often sacrifices the autonomous capabilities…

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar…

Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape.…

Securing the power system from catastrophic natural disasters is a rising problem in power system operation and planning. This paper particularly considers earthquake and aims to evaluate and improve the resilience of power distribution…