New actuation planning method for the analysis and design of active tensegrity structures
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F23%3A43969120" target="_blank" >RIV/49777513:23520/23:43969120 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S014102962301012X?pes=vor" target="_blank" >https://www.sciencedirect.com/science/article/pii/S014102962301012X?pes=vor</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.engstruct.2023.116597" target="_blank" >10.1016/j.engstruct.2023.116597</a>
Alternative languages
Result language
angličtina
Original language name
New actuation planning method for the analysis and design of active tensegrity structures
Original language description
This paper deals with actuation planning and control for active tensegrity structures. Within actuation planning, a specific actuation in the form of adjustments of cables’ rest lengths is assigned to the resulting structure to follow a prescribed complex trajectory. The methodology is based on the desired trajectory discretisation and following consecutive actuation optimisation, which employs the dynamic relaxation method. Since the actuation planning problem is treated as static, a controller is designed to suppress possible structural vibrations. With regard to the need to test dynamical properties and simulate the structure's motion, a methodology for automatic creation of tensegrity computational models in Simscape software is developed in the MATLAB scripting environment. Numerical examples of particular tensegrity structures show the whole algorithm's efficiency.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20302 - Applied mechanics
Result continuities
Project
<a href="/en/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronic tensegrities for energy efficient light robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
ENGINEERING STRUCTURES
ISSN
0141-0296
e-ISSN
1873-7323
Volume of the periodical
293
Issue of the periodical within the volume
OCT 15 2023
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
17
Pages from-to
1-17
UT code for WoS article
001047402000001
EID of the result in the Scopus database
2-s2.0-85165959253