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An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures

  • In this paper compliant multistable tensegrity structures with discrete variable stiffness are investigated. The different stiffness states result from the different prestress states of these structures corresponding to the equilibrium configurations. Three planar tensegrity mechanisms with two stable equilibrium configurations are considered exemplarily. The overall stiffness of these structures is characterized by investigations with regard to their geometric nonlinear static behavior. Dynamical analyses show the possibility of the change between the equilibrium configurations and enable the derivation of suitable actuation strategies.

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Metadaten
Author:Valter BöhmGND, Philipp Schorr, T. Feldmeier, Jhohan ChavezORCiDGND, S. Henning, Klaus Zimmermann, Lena ZentnerORCiD
DOI:https://doi.org/10.1007/978-3-030-55061-5_53
Parent Title (English):New Trends in Mechanism and Machine Science: 8th European Conference on Mechanism Science (EuCoMeS), 2020
Publisher:Springer
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2020
Release Date:2022/01/15
Tag:Compliant tensegrity structure; Multiple states of self-equilibrium; Variable stiffness
First Page:470
Last Page:478
Andere Schriftenreihe:Mechanisms and Machine Science ; 89
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