Methods of actuation planning of active tensegrity structures

Kód výsledku v 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>

Výsledek na webu

<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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Jazyk výsledku

angličtina

Název v původním jazyce

Methods of actuation planning of active tensegrity structures

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Methods of actuation planning of active tensegrity structures

Popis výsledku anglicky

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.

Druh

O - Ostatní výsledky

CEP obor

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OECD FORD obor

20302 - Applied mechanics

Projekt

<a href="/cs/project/GA23-07280S" target="_blank" >GA23-07280S: Identifikace a kompenzace nepřesností a efektů tření ve vazbách mechatronických systémů</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