TY - JOUR A1 - Jahn, Hannes A1 - Böhm, Valter A1 - Zentner, Lena T1 - Analysis of deformation in tensegrity structures with curved compressed members JF - Meccanica N2 - AbstractTensegrity structures are prestressed structures consisting of compressed members connected by prestressed tensioned members. Due to their properties, such as flexibility and lightness, mobile robots based on these structures are an attractive subject of research and are suitable for space applications. In this work, a mobile robot based on a tensegrity structure with two curved members connected by eight tensioned strings is analyzed in terms of deformation in the curved members. Further, the difference in locomotion trajectory between the undeformed and deformed structure after the prestress is analyzed. For that, the theory of large deflections of rod-like structures is used. To determine the relationship between acting forces and the deformation, the structure is optimized using minimization algorithms in Python. The results are validated by parameter studies in FEM. The analysis shows that the distance between the two curved members significantly influences the structure’s locomotion. It can be said that the deformation of the components significantly influences the locomotion of tensegrity structures and should be considered when analyzing highly compliant structures. KW - Rolling locomotion KW - Mobile robot KW - Tensegrity structures KW - Deformation of compressedmembers KW - Finite element simulations Y1 - 2024 U6 - https://doi.org/10.1007/s11012-024-01833-y SN - 0025-6455 PB - Springer Nature ER - TY - CHAP A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Schmitt, Lukas A1 - Körber, Wolfgang A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter T1 - Compliant Robotic Arm based on a Tensegrity Structure with x-shaped Members T2 - 2024 IEEE 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA. April 14-17, 2024 N2 - 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. KW - Geometry KW - Three-dimensional displays KW - Shape KW - Prototypes KW - Kinematics KW - Soft robotics KW - Manipulators Y1 - 2024 U6 - https://doi.org/10.1109/RoboSoft60065.2024.10521941 SP - 1047 PB - IEEE ER - TY - GEN A1 - Herrmann, David A1 - Schaeffer, Leon A1 - Schmitt, Lukas A1 - Körber, Wolfgang A1 - Merker, Lukas A1 - Zentner, Lena A1 - Böhm, Valter T1 - Design, Erprobung und Vergleich von zwei Manipulatoren auf Basis von nachgiebigen Tensegrity-Strukturen T2 - 10. IFToMM D-A-CH Konferenz 2024: 05./06. März 2024, Universität Rostock N2 - Kurzfassung des Tagungsbeitrags. T2 - Design, test and comparison of two manipulators based on compliant tensegrity-structures Y1 - 2024 UR - https://nbn-resolving.org/urn:nbn:de:hbz:465-20240304-095947-9 U6 - https://doi.org/10.17185/duepublico/81587 ER -