NDLI: Variable Antagonistic Stiffness Element Using Tensegrity Mechanism

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Azadi, M. Behzadipour, S.
Copyright Year	2007
Abstract	Tensegrity mechanisms are self-stressing mechanisms and it is known that the prestress of the elements affect the stiffness of the tensegrity. In this paper stiffness of a spatial tensegrity is studied for the purpose of the noise and vibration control and it is shown that an efficient variable stiffness element can be designed by using tensegrities. The antagonistic force and antagonistic stiffness are explained briefly and the kinematics of the tensegrity is analyzed. Also, the possible motion, the elastic stiffness, load stiffness and antagonistic stiffness formulation for the tensegrity are found symbolically. Some techniques for increasing the magnitude of the antagonistic stiffness are mentioned. The effect of the geometry on the stiffness, stiffness controllability and linearity are shown by examples. Finally, the results of this approach are verified by mechanical simulation of the designed tensegrity.
Starting Page	21
Ending Page	28
Page Count	8
File Format	PDF
ISBN	0791843033
DOI	10.1115/IMECE2007-42475
e-ISBN	0791838129
Volume Number	Volume 9: Mechanical Systems and Control, Parts A, B, and C
Conference Proceedings	ASME 2007 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2007-11-11
Publisher Place	Seattle, Washington, USA
Access Restriction	Subscribed
Subject Keyword	Geometry Noise (sound) Tensegrity Kinematics Tensegrity mechanisms Stiffness Vibration control Engineering simulation Stress
Content Type	Text
Resource Type	Article

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