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An Approach to the Estimation of the Actuation Parameters for Mobile Tensegrity Robots with Tilting Movement Sequences

  • This paper deals with the locomotion by tilting sequences of shape-variable compliant tensegrity structures. The shape of these structures is controlled by manipulating their prestress state. The tensegrity structure is tilting as consequence of a suitable variation of its shape. By multiple repetition of such tilting sequences a motion is generated. Quasi-static considerations for the considered structures are presented in order to estimate the actuation parameters. For a proper number of actuators this quasi-static approach enables an analytical calculation of the actuation parameters of the structure in order to control the geometrical configuration as required. As an example a two-dimensional tensegrity structure which is in contact with a horizontal plane due to gravity is considered. By successive tilting sequences a uniaxial motion results. The excitation of the structure is calculated for a given change of shape with the quasi-static analysis. The according results are compared with transient dynamic simulations. Qualitative conclusions about the motion behavior and the usability of the quasi-static approach are given.

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Metadaten
Author:Valter BöhmGND, Philipp Schorr, Klaus Zimmermann, Lena ZentnerORCiD
DOI:https://doi.org/10.1109/REMAR.2018.8449871
Parent Title (English):2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR); 20-22 June 2018; Delft, Netherlands
Publisher:IEEE
Document Type:conference proceeding (article)
Language:English
Year of first Publication:2018
Release Date:2022/06/08
Tag:mobile robots; motion control; robot dynamics; structural engineering
First Page:1
Last Page:8
Institutes:Fakultät Maschinenbau
Fakultät Maschinenbau / Labor Finite-Elemente-Methode (FEM)
Begutachtungsstatus:peer-reviewed
research focus:Energie und Mobilität
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG