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Kinematic analysis of a rolling tensegrity structure with spatially curved members

  • In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion.

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Metadaten
Author:Philipp Schorr, Enrique Roberto Carrillo Li, Tobias Kaufhold, Jorge Antonio Rodriguez Hernandez, Lena ZentnerORCiD, Klaus Zimmermann, Valter BöhmGND
DOI:https://doi.org/10.1007/s11012-020-01199-x
ISSN:0025-6455
Parent Title (English):Meccanica
Publisher:Springer
Document Type:Article
Language:English
Year of first Publication:2021
Creating Corporation:Springer
Release Date:2022/01/19
Tag:Inverse kinematics; Nonholonomic mechanics; Tensegrity structure
Volume:56
First Page:953
Last Page:961
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Digitalisierung
OpenAccess Publikationsweg:Hybrid Open Access - OA-Veröffentlichung in einer Subskriptionszeitschrift/-medium
Licence (German):Creative Commons - CC BY - Namensnennung 4.0 International
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