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  <doc>
    <id>2607</id>
    <completedYear/>
    <publishedYear>2021</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber/>
    <edition/>
    <issue>156</issue>
    <volume/>
    <type>article</type>
    <publisherName>Elsevier</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle</title>
    <abstract language="eng">The development of reconfigurable planar four-bar linkages by applying the tensegrity principle is considered. Conventional quadrilateral linkages enable two operation modes differing in the kinematic behavior. However, a change between these states is not possible due to the geometric constraints. To enable a reconfiguration between the different modes one-sided limited nonholonomic constraints are introduced in this work. This issue is realized by applying ropes that cannot resist compression. However, to guarantee an appropriate load case in operation a prestress within the mechanism is required. Hence, the linkage is extended to a tensegrity-based mechanism. The structural dynamics are derived using the LAGRANGE formalism and the structural behavior is evaluated using numerical simulations. Furthermore, a prototype of an exemplary tensegrity-based mechanism is manufactured and experiments regarding the mechanical properties, in particular the reconfiguration, are performed. The results suggest the potential benefit of applying the tensegrity principle within conventional planar four-bar linkages.</abstract>
    <parentTitle language="eng">Mechanism and machine theory</parentTitle>
    <identifier type="doi">10.1016/j.mechmachtheory.2020.104172</identifier>
    <enrichment key="opus.import.date">2022-01-27T15:41:12+00:00</enrichment>
    <enrichment key="opus.source">sword</enrichment>
    <enrichment key="opus.import.user">importuser</enrichment>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Philipp Schorr</author>
    <author>Jhohan Harvey Chavez Vega</author>
    <author>Lena Zentner</author>
    <author>Valter Böhm</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>CONFIGURATION SYNTHESIS</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>MECHANISMS</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Multibody dynamics</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Planar four-bar linkage</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Reconfiguration</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tensegrity-based mechanism</value>
    </subject>
    <collection role="institutes" number="FAKMB">Fakultät Maschinenbau</collection>
    <collection role="othforschungsschwerpunkt" number="16316">Produktion und Systeme</collection>
    <collection role="institutes" number="">Labor Finite-Elemente-Methode (FEM)</collection>
  </doc>
  <doc>
    <id>2781</id>
    <completedYear/>
    <publishedYear>2021</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>48</pageFirst>
    <pageLast>57</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>Springer International Publishing</publisherName>
    <publisherPlace>Cham</publisherPlace>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Reconfigurable Planar Quadrilateral Linkages Based on the Tensegrity Principle</title>
    <abstract language="eng">A feasible possibility to develop planar reconfigurable mechanisms is introduced in this work. Applying the tensegrity principle to common four-bar linkages allows a controllable change between two configurations of the mechanism. These two states correspond to different working spaces which vary regarding to the kinematic and mechanical properties. Therefore, the reconfiguration of the mechanism enables two different operation modes. Hence, this kind of mechanism enables the advantageous properties of conventional linkages with an additional enhanced adaptability of the kinematic and mechanic behavior. Beside the conceptual design of such tensegrity-based mechanisms, a reconfigurable four-bar parallel linkage is considered exemplarily. Numerical simulations are evaluated focusing on the kinematic behavior and the structural mechanics of this mechanism. Especially the reconfiguration of the mechanism by changing between two different working spaces is considered. The simulation results clarify the benefit of utilizing the tensegrity principle in mechanism theory. Adding only a few members to the original linkage enables a reconfigurable mechanism with comparable complexity.</abstract>
    <parentTitle language="eng">Microactuators, Microsensors and Micromechanisms, MAMM, 2020</parentTitle>
    <identifier type="isbn">978-3-030-61651-9</identifier>
    <identifier type="doi">10.1007/978-3-030-61652-6_5</identifier>
    <enrichment key="opus.import.date">2022-02-09T06:20:59+00:00</enrichment>
    <enrichment key="opus.source">sword</enrichment>
    <enrichment key="opus.import.user">importuser</enrichment>
    <enrichment key="OtherSeries">Mechanisms and Machine Science ; 96</enrichment>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Philipp Schorr</author>
    <author>Jhohan Harvey Chavez Vega</author>
    <author>Lena Zentner</author>
    <author>Valter Böhm</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Planar four-bar linkage</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Reconfigurable mechanisms</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>tensegrity</value>
    </subject>
    <collection role="institutes" number="FAKMB">Fakultät Maschinenbau</collection>
    <collection role="othforschungsschwerpunkt" number="16316">Produktion und Systeme</collection>
    <collection role="institutes" number="">Labor Finite-Elemente-Methode (FEM)</collection>
  </doc>
</export-example>
