Dynamics of the shell class of tensegrity structures

被引：51

作者：

Skelton, RE ^{[1
]}

Pinaud, JP ^{[1
]}

Mingori, DL ^{[1
]}

机构：

[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, Struct Syst & Control Lab, La Jolla, CA 92093 USA

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2001年 / 338卷 / 2-3期

关键词：

tensegrity; rigid body; dynamics; flexible structures;

D O I：

10.1016/S0016-0032(00)00078-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A tensegrity structure is a special truss structure in a stable equilibrium with selected members designated for only tension loading, and the members in tension form a continuous network of cables separated by a set of compressive members. This paper develops an explicit analytical model of the nonlinear dynamics of a large class of tensegrity structures, constructed of rigid rods connected by a continuous network of elastic cables. The kinematics are described by positions and velocities of the ends of the rigid rods, hence, the use of angular velocities of each rod is avoided. The model yields an analytical expression for accelerations of ail rods, making the model efficient for simulation, since the update and inversion of a nonlinear mass matrix is not required. The model is intended for shape control and design of deployable structures. Indeed, the explicit analytical expressions are provided herein for the study of stable equilibria and controllability, but the control issues are not treated in this paper. (C) 2001 The Franklin Institute. Published by Elsevier Science Ltd. All rights reserved.

引用

页码：255 / 320

页数：66

共 27 条

[1]

Adhikari R, 1998, 19981 UCSD STRUCT SY

[2] GENERATING OPTIMAL TOPOLOGIES IN STRUCTURAL DESIGN USING A HOMOGENIZATION METHOD [J].

BENDSOE, MP ;

KIKUCHI, N .

COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING, 1988, 71 (02) :197-224

[3]

Bendsoe MP., 1995, OPTIMIZATION STRUCTU, DOI DOI 10.1007/978-3-662-03115-5

[4]

Bendsoe MP., 1989, Struct Multidisc Optim, V1, P193, DOI [10.1007/BF01650949, DOI 10.1007/BF01650949]

[5]

CHU R, 1988, TENSEGRITY J SYNERGE, V2

[6]

DIAZ AR, 1992, STRUCT OPTIMIZATION, V4, P17

[7]

FULLER R, 1973, DYMAXION WORLD BUCKM

[8]

Fuller R. B., 1962, U.S. Patent, Patent No. [3,063,521, 3063521]

[9]

Fuller R.B., 1975, SYNERGETICS FURTHER

[10]

Furuya H, 1992, Int. J. Space Struct, V7, P143

← 1 2 3 →