• search hit 51 of 60
Back to Result List

Jumping locomotion system based on a multistable tensegrity structure

  • All known locomotion principles are limited respective to environmental conditions. Often, the occurrence of obstacles or gaps means the break-off for the operating motion systems. For such circumstances, a controllable jumping locomotion is required to cross these barriers. However, this locomotion demands sophisticated requirements to the actuation. The abrupt actuation is commonly realized by high dynamic actuators or complex mechanisms. In this work, a simple solution utilizing the multistability of a compliant tensegrity structure is described. Therefore, a two-dimensional tensegrity structure featuring four stable equilibria is considered. Based on bifurcation analyses a feasible actuation to control the current equilibrium configuration is derived. Changing between selected equilibrium states enables a great difference in potential energy, which yields a jumping motion of the structure. Based on numerical simulations a suitable actuation strategy is chosen to overcome obstacle and steps by jumping forward or backward, respectively. The theoretical approach is examined experimentally with a prototype of the multistable tensegrity structure. (c) 2020 Elsevier Ltd. All rights reserved. All known locomotion principles are limited respective to environmental conditions. Often, the occurrence of obstacles or gaps means the break-off for the operating motion systems. For such circumstances, a controllable jumping locomotion is required to cross these barriers. However, this locomotion demands sophisticated requirements to the actuation. The abrupt actuation is commonly realized by high dynamic actuators or complex mechanisms. In this work, a simple solution utilizing the multistability of a compliant tensegrity structure is described. Therefore, a two-dimensional tensegrity structure featuring four stable equilibria is considered. Based on bifurcation analyses a feasible actuation to control the current equilibrium configuration is derived. Changing between selected equilibrium states enables a great difference in potential energy, which yields a jumping motion of the structure. Based on numerical simulations a suitable actuation strategy is chosen to overcome obstacle and steps by jumping forward or backward, respectively. The theoretical approach is examined experimentally with a prototype of the multistable tensegrity structure.

Export metadata

Additional Services

Share in Twitter Search Google Scholar Statistics
Metadaten
Author:Philipp Schorr, Lena ZentnerORCiD, Klaus Zimmermann, Valter BöhmGND
DOI:https://doi.org/10.1016/j.ymssp.2020.107384
Parent Title (English):Mechanical systems and signal processing
Publisher:Elsevier
Document Type:Article
Language:English
Year of first Publication:2021
Release Date:2022/02/03
Tag:Compliant tensegrity structure; Multibody dynamics; Multistability; Non-classical locomotion
Issue:152
Article Number:107384
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