Unstable-unit tensegrity plate: modeling and design

Ron Zaslavsky; Mauricio C. de Oliveira; Robert E. Skelton

doi:10.1117/12.483506

5 August 2003 Unstable-unit tensegrity plate: modeling and design

Ron Zaslavsky, Mauricio C. de Oliveira, Robert E. Skelton

Proceedings Volume 5056, Smart Structures and Materials 2003: Smart Structures and Integrated Systems; (2003) https://doi.org/10.1117/12.483506
Event: Smart Structures and Materials, 2003, San Diego, California, United States

Abstract

A new topology for a prestressed tensegrity plate, the unstable-unit tensegrity plate (UUTP), is introduced, together with a detailed algorithm for its design. The plate is a truss made of strings (flexible elements) and bars (rigid elements), which are loaded in tension and compression, respectively, where bars do not touch each other. Given the outline dimensions of the desired plate, and the number of bars along the plate's width and length, the algorithm solves for the nodes' positions and the prestress forces that make a plate in equilibrium. This is done by solving a non-linear matrix equation via Newton's method. This equation reflects static equilibrium conditions. We've designed several such plates, proving the feasibility of the proposed topology and the effectiveness of its design algorithm. Two such plates are characterized in detail, both statically and dynamically (via simulation). The proposed algorithm may be extended to solve for other tensegrity structures having different topologies and/or different shapes. The UUTP may be used as a building block of many types of structures, both uncontrolled and controlled, either large-scale or miniature-scale.

Citation Download Citation

Ron Zaslavsky, Mauricio C. de Oliveira, and Robert E. Skelton "Unstable-unit tensegrity plate: modeling and design", Proc. SPIE 5056, Smart Structures and Materials 2003: Smart Structures and Integrated Systems, (5 August 2003); https://doi.org/10.1117/12.483506

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