TY - CHAP A1 - Böhm, Valter A1 - Sumi, Susanne A1 - Schorr, Philipp A1 - Zimmermann, Klaus ED - Awrejcewicz, Jan T1 - Dynamic Analysis of a Compliant Tensegrity Structure for the Use in a Gripper Application T2 - Dynamical systems in theoretical perspective (DSTA 2017), Łódź, Poland, December 11-14, 2017 N2 - The use of compliant tensegrity structures in robotic applications offers several advantageous properties. In this work the dynamic behaviour of a planar tensegrity structure with multiple static equilibrium configurations is analysed, with respect to its further use in a two-finger-gripper application. In this application, two equilibrium configurations of the structure correspond to the opened and closed states of the gripper. The transition between these equilibrium configurations, caused by a proper selected actuation method, is essentially dependent on the actuation parameters and on the system parameters. To study the behaviour of the dynamic system and possible actuation methods, the nonlinear equations of motion are derived and transient dynamic analyses are performed. The movement behaviour is analysed in relation to the prestress of the structure and actuation parameters. KW - Compliant tensegrity structure KW - Dynamic behaviour KW - Dynamic system KW - Gripper application KW - Multiple states of self equilibrium Y1 - 2018 SN - 978-3-319-96598-7 U6 - https://doi.org/10.1007/978-3-319-96598-7_26 SP - 323 EP - 334 PB - Springer CY - Cham ER -