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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.

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Metadaten
Author:Philipp Schorr, Valter BöhmGND, G. Stepan, Lena ZentnerORCiD, Klaus Zimmermann, G. Stépán
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):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG
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