Compliant multistable tensegrity structures. (September 2017)

• Record Type: Journal Article
• Authors: Böhm, V.; Sumi, S.; Kaufhold, T.; Zimmermann, K.
• Is Part Of: Mechanism and machine theory. Volume 115(2017:Sep.)
• Page Start: 130
• Page End: 148
• Publication Date: 2017-09
• Subjects: Tensegrity structure -- Multiple states of self-equilibrium -- Compliant structure -- Form-finding; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2017.04.013
• Languages: English
• ISSNs: 0094-114X

Abstract

Abstract: In this paper, a method to identify compliant tensegrity structures with multiple states of self-equilibrium is described. The considered algorithm is based on the repeated use of a form-finding procedure, using the static Finite-Element-Method. The algorithm can be used in the development process of compliant multistable tensegrity structures with simple topologies, consisting of only few members. As examples four planar tensegrity structures with two or three stable equilibrium configurations are considered and verified experimentally. Furthermore, a specific kind of multistable tensegrity structures, which have identical convex hulls, but differing prestressed states in their equilibrium configurations, is investigated. The potential technical use of the considered structures is discussed in the context of shape-changing locomotion systems using transitions between their equilibrium configurations.