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Dynamic Analysis of a Compliant Tensegrity Structure for the Use in a Gripper Application

  • 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.

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Metadaten
Author:Valter BöhmGND, Susanne Sumi, Philipp Schorr, Klaus Zimmermann
DOI:https://doi.org/10.1007/978-3-319-96598-7_26
ISBN:978-3-319-96598-7
Parent Title (English):Dynamical systems in theoretical perspective (DSTA 2017), Łódź, Poland, December 11-14, 2017
Publisher:Springer
Place of publication:Cham
Editor:Jan Awrejcewicz
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2018
Release Date:2022/06/09
Tag:Compliant tensegrity structure; Dynamic behaviour; Dynamic system; Gripper application; Multiple states of self equilibrium
First Page:323
Last Page:334
Andere Schriftenreihe:Springer proceedings in mathematics & statistics ; 248
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Publication:Externe Publikationen
research focus:Digitalisierung
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG