Design Of Tensegrity Structures For Shape Changing Applications
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Design Of Tensegrity Structures For Shape Changing Applications
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Author : Kaila Roffman
language : en
Publisher:
Release Date : 2022
Design Of Tensegrity Structures For Shape Changing Applications written by Kaila Roffman and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
In space applications, lightweight, deployable structures are frequently studied and developed to meet launch vehicle constraints. This is particularly true for very large-scale structures, where the dimensions and volume of launch vehicle fairings can severely limit the in-space scale of structures without deployment. Tensegrity structures are very promising for such applications, offering a high stiffness-to-mass ratio and deployability through actuation of changing member lengths. Tensegrity structures are self-equilibrated, pre-stressed structures. Comprised of struts and cables, tensegrity members are modeled as uniaxial, with struts carrying compression and cables carrying tension, meeting at nodes modeled as frictionless ball joints. A tensegrity form is characterized by sets of nodal coordinates and member force densities (or forces), while a tensegrity configuration refers to how the members are connected between the nodes. Much of the literature on tensegrity structures focuses on the form-finding problem--seeking an equilibrated combination of nodal coordinates and force densities for a particular configuration. A wide variety of approaches to solving the form-finding problem are described in the literature. In general, the form-finding problem is intrinsically formulated to seek only a single equilibrated form for a particular tensegrity configuration. This is sufficient for many static applications of tensegrity structures, where only one form would be necessary. However, tensegrity structures can take on a wide variety of forms for a particular configuration, and little research has been done to-date exploring the variety of shapes a particular configuration can achieve. In shape changing applications, such as deployable structures, understanding the wider variety of shapes a structure can achieve could provide valuable insight as to how these structures can best be used. This dissertation has two main parts. First, analytical and numerical approaches are developed which can be used to describe the range of achievable shapes (forms) a particular tensegrity configuration can achieve. In the analytical approach, a minimal set of design variables describing the shapes is first developed. This minimal set is then restricted, providing bounds on the design variables which limit the resulting shapes to only those which are also equilibrated. For configurations too complex to solve analytically, a numerical approach is developed. This numerical approach can work with any set of design variables and needs only a single known equilibrated shape to begin. This shape is used as a starting point, from which parametric lines (in terms of the design variables) are extended. These lines are used to seek new equilibrium shapes in the span of the design variables. The end result is a representative numerical dataset which approximates the range of achievable shapes a tensegrity structure can achieve. These approaches demonstrate not only that a particular tensegrity configuration can achieve a wide variety of shapes, but also that the extent of these shapes can be characterized. The second part of this dissertation focuses on additional analysis methods which can be used to design a tensegrity structure specifically for shape changing applications. Methods for incorporating member length constraints are developed, including the definition of special design variables. Additionally, a path planning approach is developed that identifies equilibrated shapes through which a tensegrity can move, starting from and ending at designated shapes. Finally, finite element models are developed and used to study the tensegrity's deflections (stiffness) under station-keeping loads, as well as its natural frequencies of vibration. These tools are used in a demonstrative case study, investigating the potential utility of a modular tensegrity structure as a structural backbone of a parabolic reflector on the same scale as the James Webb Space Telescope. The resulting tensegrity structure exhibits structural characteristics comparable to if not better than those of existing parabolic reflectors in space applications. This case study not only shows the utility of the analysis methods developed when selecting a variety of design parameters with a particular application in mind, but also demonstrates that tensegrity structures have great potential for use in deployable, shape changing applications.
Tensegrity Systems
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Author : Robert E. Skelton
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-06-04
Tensegrity Systems written by Robert E. Skelton and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-06-04 with Technology & Engineering categories.
This book discusses analytical tools for designing energy efficient and lightweight structures that embody the concept of tensegrity. The book provides both static and dynamic analysis of special tensegrity structural concepts, which are motivated by biological material architecture. This is the first book written to attempt to integrate structure and control design.
Shape Change And Structural Performance Of Cable Actuated Cylindrical Tensegrities
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Author : Kaila Roffman
language : en
Publisher:
Release Date : 2019
Shape Change And Structural Performance Of Cable Actuated Cylindrical Tensegrities written by Kaila Roffman and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
Large space structures are often desirable for increasing performance of those missions requiring high resolution or high power. As scientific needs demand larger and larger structures, the need for high efficiency, deployable structures that can satisfy the mass and volume constraints of launch vehicles also grows. Tensegrity structures offer a promising, lightweight, packaging-efficient solution to many deployable boom applications. This thesis has two primary focuses. The first is an analysis of the range of shapes a class-2 triplex tensegrity boom may be able to achieve via actuation of select cables. The second is a design analysis of these triplex booms, to develop a better understanding of how different configuration parameters influence overall structural performance. Tensegrity structures are self-equilibrated structures composed of compression-carrying struts and tension-carrying cables. These members are connected at nodes, which act as frictionless ball joints. The tensegrities studied in this thesis are class-2 cylindrical triplex booms, meaning that there are three struts per bay, the nodes on the top or bottom face of a straight bay lie on a circle, and at most two struts touch at a single node for multi-bay structures (improving stiffness and maintaining symmetry between adjacent bays). Review of existing studies of tensegrity analysis methodology helps to understand the shapes a configuration may achieve. Extensive research has been done on different methods for finding equilibrated shapes for a given tensegrityeven for a triplex specificallybut little has been done to characterize the entire range of achievable shapes. This thesis develops a method for understanding the entire range of shapes that may be achieved with a triplex boom, when only the 3 supporting cables are actuated by changing their lengths. Building on the shape change analysis, this thesis then addresses how different configuration parameters influence structural properties and performance. For a single bay, the ratio of bay height (related to strut length) to the circumscribing radius (related to face cable lengths) and the member cross-section radius are evaluated as two key design parameters studied for their effects on structural properties. For a boom of a fixed height, the number of bays are also varied as a design parameter to understand the resulting effects on structural properties. The range of achievable shapes, bending stiffness (tip deflection under load), packaging efficiency, and mass are the structural properties addressed. An example case using the Candarm2 to define design goals was addressed to show how the developed methods might be used to design a boom for a specific mission. In general, increasing the ratio of height to circumscribing radius increases the range of achievable shapes and decreases packaging efficiency. Increasing member radius was found to decrease the range of achievable shapes, decrease tip deflection and decrease packaging efficiency. Increasing the number of bays was found to have varying effects on range of achievable shapes and packaging efficiency depending on the ratio of overall boom height to circumscribing radius. In most cases (with sufficiently high ratio of overall height to circumscribing radius), increasing the number of bays increases the range of achievable shapes and increases packaging efficiency. Increasing the number of bays (regardless of the ratio of height to circumscribing radius) was found to increase tip deflection and increase mass. Finally, this thesis considers experimental validation of the models developed to predict shape-changing performance. A review of existing methods of actuation, control and metrology was conducted, with special attention to potential utility for these types of triplex booms. An experimental bay was constructed then actuated by manually adjusting cable lengths, while a motion tracking system was used to determine the evolving shape. This experiment generally verified the variety of shapes that can be achieved by a triplex via actuation of just 3 cables, and that the methods developed can predict those shapes. Furthermore, it demonstrated the accuracy of the methods developed to predict member interference along a shape-change path. A large range of achievable shapes combined with good packaging efficiency and structural performance suggests that tensegrity structures merit continuing consideration for future deployable boom applications.
Computational Modeling Of Tensegrity Structures
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Author : Buntara Sthenly Gan
language : en
Publisher: Springer
Release Date : 2019-08-02
Computational Modeling Of Tensegrity Structures written by Buntara Sthenly Gan and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-08-02 with Technology & Engineering categories.
This book provides an in-depth, numerical investigation of tensegrity systems from a structural point of view, using the laws of fundamental mechanics for general pin-jointed systems with self-stressed mechanisms. Tensegrity structures have been known for decades, mostly as an art of form for monuments in architectural design. In Computational Modeling of Tensegrity Structures, Professor Buntara examines these formations, integrating perspectives from mechanics, robotics, and biology, emphasizing investigation of tensegrity structures for both inherent behaviors and their apparent ubiquity in nature. The author offers numerous examples and illustrative applications presented in detail and with relevant MATLAB codes. Combining a chapter on the analyses of tensegrity structures along with sections on computational modeling, design, and the latest applications of tensegrity structures, the book is ideal for R&D engineers and students working in a broad range of disciplines interested in structural design.
Tensegrity Structures Design Methods
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Author : Oren Vilnay
language : en
Publisher: CRC Press
Release Date : 2023-10-05
Tensegrity Structures Design Methods written by Oren Vilnay and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-10-05 with Architecture categories.
Tensegrity structures are pre-stressed systems of cables and bars in which no bar is connected to the other and the structure has no continuous rigid skeleton. This general introduction presents an original general method for the design of tensegrity structures, the first configurations of which were found by trial and error. The book begins with two-dimensional tensegrity structures, particularly tensegrity nets, tensegrity chains, tensegrity rings and tensegrity arches. These are then developed to original configurations of spatial tensegrity structures such as tensegrity slabs, primitive spatial tensegrity arches, and primitive tensegrity domes, as well as more elaborate spatial tensegrity structures such as tensegrity cylindrical shells, slim tensegrity domes, tensegrity vaults, and tensegrity caps. Presents a robust new approach to the design of tensegrity structures Extends tensegrity structures to new three-dimensional configurations Tensegrity Structures Design Methods suits structural, civil, and mechanical engineers and architects, as well as graduate students. Oren Vilnay is Professor Emeritus and was founder and head of the Department of Structural Engineering at Ben Gurion University Israel. He is also former head of the Structural Engineering Section at Technion—Israel Institute of Technology. Leon Chernin is Lecturer at the University of Dundee. He was granted a PhD in Structural Engineering from the Technion—Israel Institute of Technology. His research activities encompass both physical testing and numerical modelling.
Tensegrity Structures And Their Application To Architecture
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Author : Valentín Gómez Jáuregui
language : en
Publisher: Ed. Universidad de Cantabria
Release Date : 2020-11-06
Tensegrity Structures And Their Application To Architecture written by Valentín Gómez Jáuregui and has been published by Ed. Universidad de Cantabria this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-06 with Architecture categories.
Tensegrity structures are really intriguing: bars floating in the air, without any contact to a solid support, attached only by wires to other bars… that are also floating in the air! The aim of this work is to serve as an introduction to such an atypical kind of structure. It tries to explain everything about the controversial origins and polemic fatherhood; tensegrities from various fields, other than Architecture, structural principles, characteristics, advantages and weakness; precedent and current works and patents; and finally, some new proposals, proving that it is possible to find some applications to architectural and engineering purposes. In conclusion, this work tries to be a guide and reference to a new world of structural possibilities that is blooming and finding its path.
Tensegrity Structures
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Author : Jing Yao Zhang
language : en
Publisher: Springer
Release Date : 2015-03-17
Tensegrity Structures written by Jing Yao Zhang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-03-17 with Science categories.
To facilitate a deeper understanding of tensegrity structures, this book focuses on their two key design problems: self-equilibrium analysis and stability investigation. In particular, high symmetry properties of the structures are extensively utilized. Conditions for self-equilibrium as well as super-stability of tensegrity structures are presented in detail. An analytical method and an efficient numerical method are given for self-equilibrium analysis of tensegrity structures: the analytical method deals with symmetric structures and the numerical method guarantees super-stability. Utilizing group representation theory, the text further provides analytical super-stability conditions for the structures that are of dihedral as well as tetrahedral symmetry. This book not only serves as a reference for engineers and scientists but is also a useful source for upper-level undergraduate and graduate students. Keeping this objective in mind, the presentation of the book is self-contained and detailed, with an abundance of figures and examples.
Design And Control Of Adaptive Civil Structures
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Author : Gennaro Senatore
language : en
Publisher: Frontiers Media SA
Release Date : 2021-09-13
Design And Control Of Adaptive Civil Structures written by Gennaro Senatore and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-13 with Technology & Engineering categories.
Tensegrity Structures
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Author : Jing Yao Zhang
language : en
Publisher: Springer
Release Date : 2015-03-30
Tensegrity Structures written by Jing Yao Zhang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-03-30 with Science categories.
To facilitate a deeper understanding of tensegrity structures, this book focuses on their two key design problems: self-equilibrium analysis and stability investigation. In particular, high symmetry properties of the structures are extensively utilized. Conditions for self-equilibrium as well as super-stability of tensegrity structures are presented in detail. An analytical method and an efficient numerical method are given for self-equilibrium analysis of tensegrity structures: the analytical method deals with symmetric structures and the numerical method guarantees super-stability. Utilizing group representation theory, the text further provides analytical super-stability conditions for the structures that are of dihedral as well as tetrahedral symmetry. This book not only serves as a reference for engineers and scientists but is also a useful source for upper-level undergraduate and graduate students. Keeping this objective in mind, the presentation of the book is self-contained and detailed, with an abundance of figures and examples.
Design Optimization And Control Of Tensegrity Structures
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Author : Milenko Masic
language : en
Publisher:
Release Date : 2004
Design Optimization And Control Of Tensegrity Structures written by Milenko Masic and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.