TY - CHAP A1 - Böhm, Valter A1 - Schorr, Philipp A1 - Feldmeier, T. A1 - Chavez, Jhohan A1 - Henning, S. A1 - Zimmermann, Klaus A1 - Zentner, Lena T1 - An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures T2 - New Trends in Mechanism and Machine Science: 8th European Conference on Mechanism Science (EuCoMeS), 2020 N2 - In this paper compliant multistable tensegrity structures with discrete variable stiffness are investigated. The different stiffness states result from the different prestress states of these structures corresponding to the equilibrium configurations. Three planar tensegrity mechanisms with two stable equilibrium configurations are considered exemplarily. The overall stiffness of these structures is characterized by investigations with regard to their geometric nonlinear static behavior. Dynamical analyses show the possibility of the change between the equilibrium configurations and enable the derivation of suitable actuation strategies. KW - Compliant tensegrity structure KW - Multiple states of self-equilibrium KW - Variable stiffness Y1 - 2020 U6 - https://doi.org/10.1007/978-3-030-55061-5_53 SP - 470 EP - 478 PB - Springer ER -