New actuation planning method for the analysis and design of active tensegrity structures

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

New actuation planning method for the analysis and design of active tensegrity structures

Popis výsledku v původním jazyce

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&apos;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&apos;s efficiency.

Název v anglickém jazyce

New actuation planning method for the analysis and design of active tensegrity structures

Popis výsledku anglicky

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&apos;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&apos;s efficiency.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA20-21893S" target="_blank" >GA20-21893S: Mechatronické tensegrity pro energeticky efektivní lehké roboty</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

ENGINEERING STRUCTURES

ISSN

0141-0296

e-ISSN

1873-7323

Svazek periodika

293

Číslo periodika v rámci svazku

OCT 15 2023

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

17

Strana od-do

1-17

Kód UT WoS článku

001047402000001

EID výsledku v databázi Scopus

2-s2.0-85165959253