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.
Author: | Valter BöhmGND, Philipp Schorr, T. Feldmeier, Jhohan ChavezORCiDGND, S. Henning, Klaus Zimmermann, Lena ZentnerORCiD |
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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 |