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Investigation of a tensegrity structure with multiple equilibrium configurations as jumping motion system

  • Often, the operating range of mobile robots is limited by environ- mental circumstances like obstacles or gaps. Therefore, an adaptation of the motion principle is required to enable an operating continuation of such robots. A jumping motion is a promising approach. This motion type allows to cross gaps or to overcome obstacles where common motion principles which bases on wheels or legs fail. However, especially during landing large forces occur as a consequence of the impact with the ground. This issue encourages the use of compliant tensegrity structures which feature a great shock resistance. In this paper a tensegrity structure with multiple equilibrium configurations is considered. The two-dimensional structure is equipped with two actuators to vary the prestress of the system. The tensegrity structure is in contact to a horizontal plane due to gravity. Two actuation strategies are derived. Beside varying the prestress state of the structure, a jump can be realized by changing the equilibrium configuration. Both actuation strategies and the corresponding motion characteristics are evaluated by numeric simulations. The results emphasize the advantageous properties of tensegrity structures for a jumping motion system. In particular, the multistabilty of the structure allows a simple actuation strategy for a reliable jumping motion.

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Metadaten
Author:Philipp Schorr, Valter BöhmGND, Lena ZentnerORCiD, Klaus Zimmermann
URL / DOI:http://212.191.87.54:1616/k16/awrejcewicz/publikacje/T1.pdf
ISBN:978-83-66287-29-7
Parent Title (English):Theoretical Approaches in Non-Linear Dynamical Systems : Proceedings of the 15th Conference on Dynamical Systems -Theory and Applications
Publisher:Wydawnictwo Politechniki Łódzkiej
Place of publication:Łódź, Polen
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2019
Release Date:2022/03/15
First Page:465
Last Page:476
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Digitalisierung
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG