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Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle

  • The development of reconfigurable planar four-bar linkages by applying the tensegrity principle is considered. Conventional quadrilateral linkages enable two operation modes differing in the kinematic behavior. However, a change between these states is not possible due to the geometric constraints. To enable a reconfiguration between the different modes one-sided limited nonholonomic constraints are introduced in this work. This issue is realized by applying ropes that cannot resist compression. However, to guarantee an appropriate load case in operation a prestress within the mechanism is required. Hence, the linkage is extended to a tensegrity-based mechanism. The structural dynamics are derived using the LAGRANGE formalism and the structural behavior is evaluated using numerical simulations. Furthermore, a prototype of an exemplary tensegrity-based mechanism is manufactured and experiments regarding the mechanical properties, in particular the reconfiguration, are performed. The results suggest the potential benefit of applying the tensegrity principle within conventional planar four-bar linkages.

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Metadaten
Author:Philipp Schorr, Jhohan ChavezORCiDGND, Lena ZentnerORCiD, Valter BöhmGND
DOI:https://doi.org/10.1016/j.mechmachtheory.2020.104172
Parent Title (English):Mechanism and machine theory
Publisher:Elsevier
Document Type:Article
Language:English
Year of first Publication:2021
Release Date:2022/02/03
Tag:CONFIGURATION SYNTHESIS; MECHANISMS; Multibody dynamics; Planar four-bar linkage; Reconfiguration; Tensegrity-based mechanism
Issue:156
Article Number:104172
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Produktion und Systeme
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG
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