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CONFERENCE PAPERS
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on Robotic Systems
Experimental Shape Control of Cylindrical Triplex Tensegrity Structures
​Conference: ​
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SPIE Smart Structures + NDE, Long Beach, CA (2022)
​Summary: ​
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Owing to their shape morphing capabilities and biomimetic nature, tensegrity structures offer a lightweight, adaptable, alternative to classical truss structures. Tensegrities comprise a collection of axially loaded compressive members (bars or struts) stabilized by a network of tension members (strings or cables), resulting in flexible structures which can be pre-stressed and actively controlled to change their shape. In this research, we study the morphing capabilities of the cylindrical triplex tensegrity by actively changing the length of the structure’s internal cable network. A geometric approach is used to characterize the full range of statically equilibrated shapes of a cylindrical triplex tensegrity structure. Then, trajectories are designed from a subset of equilibrated shapes and implemented in open-loop on an experimental triplex structure.
Mar.
2022
SPIE
AIAA_ppr
Model-based Control of Tendon-Actuated Tensegrity Robots
Conference: ​
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AIAA Region I Student Conference, New Brunswick, NJ (2021)
​Summary: ​
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This paper focuses on controlling the shape of tensegrity structures by changing the tension in the supporting tendons. System dynamics are formulated as a second-order matrix differential equation to improve the accuracy of numerical computations by exploiting the tensegrity’s mathematical structure. Then, state feedback is used to regulate node positions by solving for tendon force densities in a linear programming problem. A novel robotic manipulator is introduced to showcase the capability of this approach.
Apr.
2021
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