Fakultät Maschinenbau
Refine
Document Type
- conference proceeding (article) (3) (remove)
Language
- English (3)
Has Fulltext
- no (3)
Is part of the Bibliography
- no (3)
Keywords
- Compliant tensegrity structure (3) (remove)
Institute
- Fakultät Maschinenbau (3) (remove)
Begutachtungsstatus
- peer-reviewed (2)
The use of compliant tensegrity structures in robotic applications offers several advantageous properties. In this work the dynamic behaviour of a planar tensegrity structure with multiple static equilibrium configurations is analysed, with respect to its further use in a two-finger-gripper application. In this application, two equilibrium configurations of the structure correspond to the opened and closed states of the gripper. The transition between these equilibrium configurations, caused by a proper selected actuation method, is essentially dependent on the actuation parameters and on the system parameters. To study the behaviour of the dynamic system and possible actuation methods, the nonlinear equations of motion are derived and transient dynamic analyses are performed. The movement behaviour is analysed in relation to the prestress of the structure and actuation parameters.
In this paper a novel approach to realize a uniaxial bidirectional vibration driven motion system with controllable direction of motion is investigated. The considered motion system bases on a tensegrity structure with multiple stable equilibrium configurations. The structure is in contact with a horizontal plane due to gravity and the actuation is realized by the harmonic change of the length of a selected member. Beside varying the actuation parameters, the direction of motion can be controlled by changing the equilibrium configuration of the tensegrity structure. In this paper the topology of the tensegrity structure and the parameter values are chosen appropriately to provide two symmetric equilibrium configurations. A change of the equilibrium state yields a novel configuration of the entire motion system which is symmetric to the original state. Utilizing the symmetry of the system the same actuation yields an opposite motion. This approach represents a reliable opportunity to control the direction of motion by changing the equilibrium state for constant actuation parameters. This paper focuses on the parameter selection and the design of the actuation of the vibration driven motion system. The working principle of the vibration driven motion system is verified by numerical simulations. This contribution represents the theoretical investigation for the further development of a prototype.
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.