NDLI: Transformation experiment of a tensegrity structure using wires as actuators

Content Provider	IEEE Xplore Digital Library
Author	Hagiwara, Y. Oda, M.
Copyright Year	2010
Description	Author affiliation: Aerospace Research and Development Directorate, Japan Aerospace Exploration Agency, Ibaraki, 305-0047, Japan (Oda, M.) \|\| Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 152-8550, Japan (Hagiwara, Y.)
Abstract	The tensegrity structure is made of rigid bars and flexible wires, and can maintain its shape when the members of the structure are balanced. The tensegrity structure can be deformed by changing the lengths of its members. However, if each wire has one actuator, the number of actuators increase and the transforming mechanism becomes more complicated. In this paper, we suggest connecting wires to each other and reducing the number of the actuators used for transformation. Configurations of the tensegrity structure and a stringing pattern of connected wires are shown. Then, a method for obtaining the deforming path of the tensegrity structure is suggested. Finally, transforming experiments are conducted. When all actuators are applied to the velocity control method, the wires' axial loads tend to focus on a part of the actuators and the current value is beyond the theoretical value. Then, we can reduce the focused current load by combining the velocity control method and the current control method.
Starting Page	985
Ending Page	990
File Size	1125129
Page Count	6
File Format	PDF
ISBN	9781424451401
ISSN	2152744X
DOI	10.1109/ICMA.2010.5589344
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-04
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tendons Shape Actuators Force Wires Numerical analysis Velocity control
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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