Methods of actuation planning 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%3A43969165" target="_blank" >RIV/49777513:23520/23:43969165 - isvavai.cz</a>
Result on the web
<a href="https://multibody2023.tecnico.ulisboa.pt/prog_MULTIBODY_WEB/MULTBODY2023_ABSTRACTS/ID_226_264_ECCOMAS2023_Martin_Hrabacka.pdf" target="_blank" >https://multibody2023.tecnico.ulisboa.pt/prog_MULTIBODY_WEB/MULTBODY2023_ABSTRACTS/ID_226_264_ECCOMAS2023_Martin_Hrabacka.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Methods of actuation planning of active tensegrity structures
Original language description
This paper focuses on different approaches to actuation planning of active tensegrity structures consisting of stiff struts in compression and compliant cables in tension. Actuation of such systems is possible by changing the rest lengths of cables driven by servomotors. Because of spatial, weight, and other limitations, not all cables can be actuated. Thus, it is necessary to develop a methodology for finding cables that are suitable to be active. The main aim of this paper is to propose methods of analysis of structure sensitivity to different types of actuation. One approach applied is to analyze the sensitivity of structure shape to a particular cable’s actuation. This work also studies the sensitivity of stress in the structure to kinematic actuation by prescribing a specific trajectory to a selected structure point. Based on the results of such studies, cables suitable for actuation can be identified. The resulting active tensegrity structure usually reaches a wide spectrum of motions and can be quite energy-efficient.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
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OECD FORD branch
20302 - Applied mechanics
Result continuities
Project
<a href="/en/project/GA23-07280S" target="_blank" >GA23-07280S: Identification and compensation of imperfections and friction effects in joints of mechatronic systems</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