@inproceedings{HerrmannSchaefferSchmittetal., author = {Herrmann, David and Schaeffer, Leon and Schmitt, Lukas and K{\"o}rber, Wolfgang and Merker, Lukas and Zentner, Lena and B{\"o}hm, Valter}, title = {Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members}, series = {2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024}, booktitle = {2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024}, publisher = {IEEE}, doi = {10.1109/RoboSoft60065.2024.10521941}, pages = {1047}, abstract = {The use of intrinsically compliant tensegrity structures in manipulation systems is an attractive research topic. In this paper a 3D compliant robotic arm based on a stacked tensegrity structure consisting of x-shaped rigid members is considered. The rigid members are interconnected by a net of prestressed, tensioned members with pronounced intrinsic elasticity and by inelastic tensioned members. The system's motion is achieved by length-change of the inelastic tensioned members. The operating principle of the system is discussed with the help of kinematic considerations and verified by experiments.}, language = {en} } @misc{HerrmannSchaefferSchmittetal., author = {Herrmann, David and Schaeffer, Leon and Schmitt, Lukas and K{\"o}rber, Wolfgang and Merker, Lukas and Zentner, Lena and B{\"o}hm, Valter}, title = {Design, Erprobung und Vergleich von zwei Manipulatoren auf Basis von nachgiebigen Tensegrity-Strukturen}, series = {10. IFToMM D-A-CH Konferenz 2024: 05./06. M{\"a}rz 2024, Universit{\"a}t Rostock}, journal = {10. IFToMM D-A-CH Konferenz 2024: 05./06. M{\"a}rz 2024, Universit{\"a}t Rostock}, doi = {10.17185/duepublico/81587}, abstract = {Kurzfassung des Tagungsbeitrags.}, language = {de} } @inproceedings{HerrmannSchaefferMerkeretal., author = {Herrmann, David and Schaeffer, Leon and Merker, Lukas and Zentner, Lena and B{\"o}hm, Valter}, title = {An Approach to the Realization of Multistable Tensegrity Structures with Deformable Compressed Members}, series = {Microactuators, Microsensors and Micromechanisms : MAMM 2024.}, booktitle = {Microactuators, Microsensors and Micromechanisms : MAMM 2024.}, editor = {Nguyen, Duc-Nam and Tran, Ngoc Dang Khoa and van Huynh, Tuan and Ono, Takahito and van Nguyen, Hieu and Pandey, Ashok Kumar}, publisher = {Springer Nature}, address = {Cham}, isbn = {978-3-031-83356-4}, doi = {10.1007/978-3-031-83357-1_34}, pages = {343 -- 350}, abstract = {Within this paper a novel tensegrity-mechanism is described. The mechanism is based on a tensegrity principle with multiple states of self-equilibrium. The tensegrity mechanism is built upon a mechanical compliant tensegrity structure, consisting of tensioned and compressed members. The existence of the different states of self-equilibrium depends on the parameters of deformable compressed members with continuous or discontinuous load-displacement characteristic. The working principle of the mechanism and the mechanical compliance is verified by theoretical investigations. Therefore, in the first step, the deformable compressed members are analyzed separately. With the help of the subsequent following form-finding procedure the equilibrium configurations of the mechanism and their static stability are analyzed in dependence of the mechanical parameters of the compressed and tensioned members. As a specific application case, the use of the mechanism as a variable stiffness device is discussed.}, language = {en} }