NDLI: Integrated control/structure design for planar tensegrity models

Content Provider	IEEE Xplore Digital Library
Author	de Jager, B. Skelton, R.E. Masic, M.
Copyright Year	2002
Description	Author affiliation: Dept. of Mech. Eng., Technische Universiteit Eindhoven, Netherlands (de Jager, B.)
Abstract	A tensegrity structure is built using compressive members (bars) and tensile members (tendons). We discuss how an optimal and integrated design of tendon length control and topology/geometry of the structure can improve the stiffness and stiffness-to-mass properties of tensegrity systems. To illustrate our approach we apply it on a tensegrity system build up from several elementary stages that form a planar beam structure. The computations are done with a nonlinear programming approach and most design aspects (decentralized co-located control, static equilibrium, yield and buckling limits, force directionality, etc., both for the unloaded and loaded cases) are incorporated. Due to the way the control coefficients are constrained, this approach also delivers information for a proper choice of actuator or sensor locations: there is no need to control or sense the lengths of all tendons. From this work it becomes clear that certain actuator/sensor locations and certain topologies are clearly advantageous. For the minimal compliance objective in a planar tensegrity beam structure, proper tendons for control are those that are perpendicular to the disturbance force direction, close to the support, and relatively long, while good topologies are the ones that combine different nodal configurations in a tensegrity topology that is akin to a framed beam, but, when control is used, can be quite different from a classical truss structure.
Sponsorship	IEEE Control Syst. Soc
Starting Page	862
Ending Page	867
File Size	377667
Page Count	6
File Format	PDF
ISBN	0780373863
DOI	10.1109/CCA.2002.1038715
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-09-18
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Centralized control Tendons Topology Force control Force sensors Actuators Bars Optimal control Control systems Geometry
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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