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    Active Tensegrity Structures 5

    Uploaded by

    Golan Trevize

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Active Tensegrity Structures 5

    Uploaded by

    Golan Trevize
    1 views1 page

    Original Title

    Active_tensegrity_structures_5

    Copyright

    © © All Rights Reserved

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    Copyright:

    © All Rights Reserved
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    1 views1 page

    Active Tensegrity Structures 5

    Uploaded by

    Golan Trevize

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 1

    40

    30

    z axis (cm)
    20

    10

    -10

    50

    0 200
    180
    160
    140
    120
    -50 100
    80
    60
    40
    20
    0
    y axis (cm)
    x axis (cm)

    FIG. 1 – A perspective view of the tensegrity beam

    1 5 9 13 17 21

    6 18
    14 2 22 10

    11 7 19 15
    3 23

    8 4 16 12 24 20

    FIG. 2 – Continuous cables of the tensegrity beam

    TAB. – Details about continuous cables


    Cable Position End nodes Intermediate nodes
    1 Top surface 6 and 21 5, 14, 13 and 22
    2 Top surface 8 and 23 7, 16, 15 and 24
    3 Bottom surface 1 and 18 2, 9, 10 and 17
    4 Bottom surface 3 and 20 4, 11, 12 and 19

    The tensegrity beam used in this study has a length of 212 cm, a width of 80 cm and a height of 30
    cm. Struts are made of aluminum hollow tubes with a length of 85cm. Saddle, vertical and reinforcing
    cables have a length of 60, 48 and 40 cm, respectively. All cable members are made by stainless-steel.
    Detailed characteristics of used members are summarized in Table 2.
    TAB. –Material characteristics for the tensegrity beam
    Member Material Cross-section area Young modulus Specific weight
    (cm2) (kN/cm2) (kN/cm3)
    Struts Aluminum 2.55 7000 2.7 10-5
    Cables Stainless-steel 0.5026 11500 7.85 10-5

    Actuated bending deformation of the tensegrity beam is first studied. Bending deformation can be
    obtained through antagonist actuation of the top and bottom sliding cables. Actuation is performed by
    changing the effective rest length of actuated cables. For example, a prescribed actuation stroke of
    20% is defined as a change in the rest length of 20%. Prior to actuation, top continuous cables are
    contracted by 2% in order to introduce self-stress in the structure and counteract deflection induced by
    self-weight. The tensegrity beam is then actuated through modifying lengths of the four actuated
    cables. Top sliding cables are actuated with 10% contraction while the bottom sliding cables are
    expanded by 10%. Contraction and elongation of actuated cables is conducted progressively in steps
    of 1%. Note that actuation is deliberately performed through small and slow steps so that inertia
    effects can be neglected when the structure is in motion. The actuation response obtained by the

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