Multi-mode motion system based on a multistable tensegrity structure
- This paper presents a multi-mode motion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. The motion system is in contact to an arbitrarily shaped rigid ground due to gravity. The movement is realized by changing successively between different equilibrium states. Depending on the strategy of changing the equilibrium configuration, different motion types occur. The reachable area of the motion system can be enlarged by adapting the motion type depending on the given environmental characteristics. Furthermore, the efficiency of the motion can be improved by choosing the most suitable motion mode. Theoretical studies regarding the change of the equilibrium states are introduced. Moreover, simulation results for the different motion modes tilting, vibration driven and jumping are illustrated. The resulting motion characteristics emphasize the advantageous adaptability of the motion system regarding to varying environmental conditions.
Author: | Philipp Schorr, Valter BöhmGND, G. Stepan, Lena ZentnerORCiD, Klaus Zimmermann, G. Stépán |
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DOI: | https://doi.org/10.1007/978-3-030-20131-9_296 |
ISBN: | 978-3-030-20130-2 |
Parent Title (English): | Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science |
Publisher: | Springer |
Place of publication: | Cham |
Editor: | Tadeusz Uhl |
Document Type: | conference proceeding (article) |
Language: | English |
Year of first Publication: | 2019 |
Release Date: | 2022/02/17 |
Tag: | bifurcation analysis; multimodal motion; tensegrity |
Volume: | 73 |
First Page: | 3007 |
Last Page: | 3016 |
Andere Schriftenreihe: | Mechanisms and Machine Science ; 73 |
Institutes: | Fakultät Maschinenbau |
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM) | |
Begutachtungsstatus: | peer-reviewed |
research focus: | Produktion und Systeme |
Licence (German): |