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  • Intro To Mechanics of Tensegrity Structures

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    2001, IEEE Conference on Decision and Control. Image-based PDF. By Skelton, Adhikari, Pinaud, Chan and Helton. Shape control is found to be inexpensive, in contrast to the control of classical structures.

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    Intro to Mechanics of Tensegrity Structures

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    2001, IEEE Conference on Decision and Control. Image-based PDF. By Skelton, Adhikari, Pinaud, Chan and Helton. Shape control is found to be inexpensive, in contrast to the control of classical structures.

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    72 Ansichten6 Seiten

    Intro To Mechanics of Tensegrity Structures

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    Tensegrity Wiki
    2001, IEEE Conference on Decision and Control. Image-based PDF. By Skelton, Adhikari, Pinaud, Chan and Helton. Shape control is found to be inexpensive, in contrast to the control of classical structures.

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    Proceedings of the 4h IEEE Conference on Desson and Control (Orlando, orda USA, December 2001 An Introduction to the Mecha FrM04-1 s of Tensegrity Structures Robert E. Skelton: bobskelton@ucsd.edu, Rajesh Adhikari: rajesh.Adhikari @sdre.com, Jean-Paul Pinaud: jpinaud@mae.uesd.edu, ‘Waileung Chan: waileung@mae.ucsd.edu, “Mechanical and Aerospace Enginering Department, Struct Systems and Control Lab University of California San Diego, La Jolla, CA 92093-0411, USA J. William Helton: helton@math.uesd.edu Department of Mathematics, Abstract ‘Tensegrity structures consist of strings (in tension) and bars in compression). Strings are strong, light, and fokdable, so tensegrity structures have the potential to be light but strong, and deployable. Pulleys, Nii wite, or other actustors to se= lectively tighten some stings on a tensegrity structure can bbe used to control its shape. This article describes some principles we have found to be true in a detailed study of ‘mathematical models of several tensegrity structures, We describe properties ofthese structures which hold quite gen- erally, We describe how pretensing all strings of a tensegrity rakes its shape robust to various loading forces. Another property asserts thatthe shape of atensegrity structure can bbe changed substantially with litle change in the potential ‘energy of the structure. Thus shape contol should be inex pensive. This is in contrast o the control of classical struc- tres which require substantial energy to change theit shape. 1 Introduction ‘Tensegrity structures are built of bars and strings attached to the ends of the bars. The bars can resist compressive force and the strings cannot. Most barstring configura: tions which one might conceive ae notin equilibrium, and if actually constructed will collapse to a different shape Only bar-string configurations in a stable equilibrium will be called tensegrity structures Jf well designed, the application of forces to a tensegrity srueture will deform it into a slightly different shane in & way which supports the applied forces. Tenseprity struc- tures are very special cases of trusses, where members are assigned special functions. Some members ae always in tension and others are always in compression, We will adopt the words “stings” for the tensile members. and “bars” for compressive members. A tensegrity structure's bars cannot be attached to each other through joints that impart torques. ‘The end of a bar can be attached 10 strings or ball jointed to (0-7809-7061-8/01/510.00 © 2001 IEEE Universiy of California San Diego, LA Jolla, CA 92093-0112, USA, other bars, ‘The artist Kenneth Snelson [1] built the frst tensegrity structure and his artwork was the inspiration forthe first au- thor’s interest in tensegrity. Buckminster Fuler coined the word tensegrity from two words, tension and integrity 2 The Benefits of Tensegrity ‘There exist a lage literature on the geometry, artform, and architectural appeal of tensegrity structures, but there ex- ists little on the dynamics and mechanics of these stru tures [2-5]. Work by [6] shows an array of stable tensegrity units connected to yield a large stable system, which can be deployable. Tensegrity structures for civil engineering pur- ‘poses have been built and described in [7,8]. Several rea- sons are given below why tensegrity structures, which em- ploy many tendons for prestessibility should receive new attention from mathematicians and engineers, even though the concepts are fifty years old. ‘Tension Stabilizes: ‘A compressive member looses stiffness as itis loaded, whereas a tensile member gains stiffness asi is loaded. ‘Tensegrity Structures are Efficient Bendsoe and Kikuchi 9], Jarre [10], and others have shown, thatthe optimal distribution of mass for specific stiffness ‘objectives tends to be neither a solid mass of material with 4 fixed external geometry, nor material aid out in orthog ‘onal components. Material is needed only in the essential load paths, not the orthogonal paths of traditional man-made structures. Tensegrity structures use longitudinal members arranged in very unusual (and non-orhogonal pattern 10 achieve strength with small mass. ‘Tensegrity Structures are Deployable: Materials of high strength tend to have very limited dis- placement capability. Piezoelectric materials are capable of ‘only small displacement and “smart” structures using such 4254 ‘sensors and actuators have only small displacement capabil- ty. Since the compressive members of tensegrty structures are either disjoint, o connected with ball joins, large dis- placement, deployabiity nd stowage in a compact volume ‘will be immediate virtues oftensegriy structures (11). This feature offess operational and portability advantages. ‘Tensegrity Structures are Easily Tunable: ‘The same deployment technique ean also make small ad- justments for fine tuning of the loaded structures, or adjust- ment of a damaged structure, Structures that are designed to allow tuning will be an important feature of next gem eration mechanical structures, including civil engineering structures. ‘Tensegrity Structures Can be More Reliably Modeled: All members of a tensegrity structure are axially loaded, Perhaps the most promising scientific feature of tensegrity structures is that while the global structure bends with ex- teal static loads, none of the individual members of the tensegrity structure experience bending moments. (In this, report, we design all compressive members to experience Toads Well below their Euler buckling loads.) More reliable ‘models can be expected for axially loaded members com- pared to models for members in bending [12] ‘Tensegrity Structures Facilitate High Precision Control: Structures that can be more precisely modeled can be more preciously controlled. Hence, tensegrity structures might ‘open the door to quantum leaps in the precision of con ‘wolled structures. The architecture (geometry) dictates the ‘mathematical properties and hence these mathematical re- sults easily scale to both large and small scales, from the ‘nanoscale to the megascale, from applications in micro surgery to antennas, to eircraft wings, to robotic manipu aco, ‘Tensegrty is a Paradigm that Promotes the Integration of Structure and Control Disciplines: ‘A given tensile or compressive member of a tensegrity structure can serve multiple funetions. It can simullane- ‘ously be a load-carrying member of the structure, a sensor (measuring tension or length), an actuator (such as nickel- titanium wire), thermal insuator oF electrical conductor. Ia ther words, By proper choice of materials and geometry, rand challenge awaits the tensegrity designer: How to con: tool the electrical, thermal, and mechanical energy in a ma terial or structure? Tensegrty structures provide a promis: ing paradigm for integrating structure and control desig, ‘Tensegrty Structures are Motivated from Biology: In spider fiber, amino acids of two types have formed hard Be pleated sheets that can take compression, and thin strands, that take tension (13,141. The G-pleated sheeis are discon- tinuous and the tension members form & continuous net- work. Hence, the nanostructure of the spider fiber is a Tensegrity Structure. Nature's endorsement of tensegrity structures warrants our altention because pet unit mass, the spider fiber isthe strongest natural fiber If tensegrity is natue’s prefered building architecture (as claimed by the Harvard biologist D.Ingber), modern analyt- ical and computational capabilities of tensegity could make the same incredible efficiency possessed by natural systems transferrable to man-made systems, from the nano- (0 the ‘megascale. This sa grand design challenge, to develops ‘entific procedures to create smart tensegrity structures that cean regulate the flow of thermal, mechanical, and electrical ‘energy in a material system by proper choice of materials, ‘geometry, and controls. This report contributes to this cause by exploring the mechanical properties of simple tensegity, structures, 3 Definitions This is an introduction to the mechanics of a class of prestressed structural systems that are composed only of axially-loaded members. We need a couple of definitions to describe tensegrity scientifically Definition 1. A Class k Tensogrity Structure ira stable equi- Uibrium of axialy-loaded elements, with a maximum of k compressive members connected at the nels) 4 The Structure Analyzed in this Paper ‘The basic example we analyzed is showa in Fig. 1, where thin lines are the strings and the thick lines are bars. The struetute was analyzed under several types of loading. The mass and stiffness properties of such structures will be of imerest under compressive loads, F, as shown, The 2-stage 3-bar was studied under two types of loading, axial and lat- eral. Axial loading is compressive while lateral loading sults in bending, 5 Two-Stage Three-Bar Tensegrity Properties The tensegrty unit studied here is the simplest three dimensional tensegrity unit which comprises thee bars held together in space by strings so as to form a tensegrity unit ‘A tensegrity unit comprising of three bars will be called a 3-bartensegity. A 3-bar fensegrity is constructed by using ‘ree bars in each stage which are wvisted either in lock: wise or in anti-clockwise direction. The top strings con- necting the top ofeach bar support the next stage in which ‘the bars are wisted in a direction opposite wo the bars inthe previous stage. In this way any number of stages can be Constructed which will have aa alternating clockwise and anti-clockwise rotation ofthe bars in each successive stage, This is the type of structure in Snelson’s Needle Tower 4255 (a) 2estage3-bar~ ania ods (ef) and aera oad ih) | wane (0) Top view and clevation ofa 2-Stage 3-tateaseprty Figure 1: Tensegrty studied inthis paper(Not to scale). ‘The four differen types of strings are labeled S, V, D, and Bin Fig. |. A typical 2-stage 3-bar type tensegrity is shown in Fig. Lin Which the bars ofthe botiom stage are twisted in the anti~ clockwise direction. The coordinate system used is also shown in the same figure. The same configuration will be used forall subsequent studies on the statis ofthe tenseg- rity. The notations and symbols, along with the definition of angles o and 8, and overlap, fh, between the stages, used inthe following discussions are also shown in Fig, ‘The tensegrity structure exhibits unique equilibrium char. acteristics. The sum of forces on a bar may be writen F(g)t =0, where F is a matrix, q describes the geometric configuration, and tis the vector of tensions inthe strings. ‘Thete exists a tension ¢ that stabilizes the configuration only if matrix F has a nullspace. This is called the “pre- stressability" condition. Obviously, if F has 2 nullspace, the tension vector r can be scaled by any positive scalar, n= creasing the potential energy of the system without chang ing its shape. Figure 2 shows the restrictions between the geometrical parameters 8, and h, which allow an equ ‘ium. Thus, any point on this equilibrium surface in Pig. 2 corresponds toa configuration that i prstressable. Figure 2: Equilitsium Surface with Deployment Path of -stage Shar Tensegriy Structure, b= 27 m,Ljgr = 4) 5.1 Load-deflection Curves and Axial Stiffness as a Function of the Geometrical Parameters ‘The load deflection characteristics of a two stage 2-stage 3-bar type tensegrity is next studied and the corresponding, sfinss properties are investigated. Figure 3 depicts the axial stiffness. asa function of prestess, drawn forthe ease of a 2-stage 3-bar type tensegrity sub- jected to axial loading, The axial stiffnes is defined asthe ‘external force acting on the structure divided by the axial deformation ofthe structure, ‘The characteristics ofthe axial sifnes of the tenseprty as «Funetion of the geometrical parameters (ie 8) re next ploted in Fig. 3. The effect of the prestess on the axial stifiness i also shown in Fig. 3. In obtaining the Fig. 3, \ertical loads were applied atthe top nodes of the 2-stage tensegiy, The load was gradually ineteased uit at least ‘one ofthe strings exceeded its elastic limit. As the com- ‘restive stiffness and the tensile stiffness were observed ‘be nearly equal to each other in the present example, only the compressive stiffness a function of the geometrical paramcers, i ploted in Fig. 3. The change in the shape ‘ofthe tensegity structure from a “Tat profile to an “hour glass” like profile with the change in cis alo shown in Fig. 3b) ‘The following conclusions can be drawn from Fig, 3: 1. Fig. 3(a) suggests that the axial stiffness increases with the decrease inthe angle of declination 3 (mea- sured From the vertical axis). 2. Fig. 3(b) suggests that the axial stiffness increases with increase in the negative angle c. Negative runs a“fat” or “beer-barrel” type structure whereas positive. means an “hourglass” type structure, as shown in Fig. 3b). Thus a “fat” tenseprity performs better than an “hour-glass” type tensegrity subjected to compressive loading. ig. 3c) suggests that the prestres has an important role in increasing the stiffness ofthe tensegrity inthe 4258 region of small external loading. However, as the ex- ternal forces are increased, the effect of the prestress ‘becomes practically negligible, « o © Figure 3: Axial sitiness of a2-stage Sar tensegnity for (a i ferent 8 with «= ~5°,t9 ~ 0.055, = 1/9, () di erent angle with 8 = 33°, ep = 0.05%, K = 1/9 and {e) diferent f9 with = 39,5 = 389, = 19. Lyor forall eases i 04m, 52 Load-deflection Curves and Bending Stiffness as & Function of the Geometrical Parameters ‘The bending characteristics of the 2-stage 3-bar tensegrity ate presented inthis section. The force is applied along the x-direction and then along the y-direction. The force is ‘adually applied until at least one ofthe strings exceeds its elastic limit, The characteristics ofthe bending stiffness ofthe tenseprity as a function ofthe geometrical parameters (ie, a, 8) are next plotted in Fig. 4. Figure 4 is plotted for lateral force applied in the y-direction, as shown in Fi. 4. The effect of, the presuress on the bending stiffaess is also shown ‘The following conclusions about the bending characteristics of the 2-stage 3-bartensegrity could be drawn from Fig. 4 1 Teis seen in Fig. 4, thatthe bending stiffness of the tensegrity with no slack strings is practically equal in both the x-and y-direction. However, the bending stifines of the tensegrity with slack string is greater along y-direction than along the x-direction 4257 ima @ © Figure ds Bending stiffness of a2-stage 3-bartensegity for (9) diferent 5 with a= ~5°,e = 0.05%, K = 1/9. (dit ferent angle ce with 8= 35% e9 = 0.05%, K = 1/9 and (e)altfeen cy with = 59,8 = 39°, = 1/9. Lar forall esses is 0.4m, 2. The bending stiffness of a tensegrity is constant ands ‘maximum for any given values of 8 and prestress ‘when none of the strings ae slack. However, as soon as atleast one string goes slack (marked by sudden drop in the stiffness curves in Fig. 4), the stifiness becomes a nonlinear function of the external load- ing and decreases monotonically with the increase in the extemal loading. As seen in Fig. 4 the onset of strings becoming slack, and hence the range of con- stant bending stiffness, is a function of. & and pre- stress. ig. (a) suggest thet the bending stiffness of a tensegrty with no slack strings inereases with the in- crease in the angle of declination 8 (measured from the vertical axis). The bending stiffness of a tenseg- rity with a slack string, in general, increases with in- crease in 6. Fig. 4(b) suggest thatthe bending stiffness increases with the increase in the negative angle a. AS neg ative ce means a “fat” or "beer-barel” type struc- ‘ure whereas positive ct means an “hourglass” type structure, a "fat" tenseprity performs better than an “hourglass” type tensegrity subjected to lateral load ing 5. Figs. 4(a,5) indicate that both & and 8 play a very in(I) for <1 < 1, where b= .27mand Liye = 4m. Substi- interesting and important role in not only affecting tution of (1) into the string length equations yields the open the magnitude of stiffness, but they als affect the on- oop control laws fo each tendon length set of slackening of he strings robustness o external i disturbances). A lage value of negative and a large oy = fea, 4 Beh 8 sind ‘aluc of (in general) delay theonstofstackeningot C= Y4ter* 4 ee the strings, thereby increasing the range of constant oa tending fess Hower ee exss acorams —— Y(0= Vlbg 28080) ® for which the onset of the slack strings is maxiraum. Die) = ste) © 6. Fig 40) suggests that pestess does not affect the 84) (9) ‘bending stiffness of a tensegity with no slack-strings. The structure deployment is shown in Fig. 5. Further detail However prestvess has an important role in éelay- canbe found in{ 13) ‘ng the onset of slack strings and thus increasing the range of constant bending stiffness. 6 Controlling Properties, “Tensegrity structures are natural candidates to be actively controlled structures since the contrl system can be em bedded inthe structure directly; for example tendons can act 1s actuators and/or sensors. Shape contol of the tenseprity structure in Fig, 1 can be accomplished by moving along the equilibrium manifold shown in Fig. 2 6.41 Deployment ‘An intresting application of this tensegrity isthe controlled deployment ofthe structure from a near zero initial height to-n greater height. Moving along the equilibrium man- ifold consists of moving along symmetrical prestressable configurations. We use an open loop control strategy based ‘upon slowly moving from one stable equilibrium to another. 6.2 tiftness Control Stability along the deployment path is assured only i this movement is slow enough. The necessary and sufficient conditions for a symmetric prestressable equilibrium to ex- ist fora=Oare Figure 5: Deployment sequence followed online shown Fig 2 ‘The stiffness analysis done in the previous sections, shows that stifness is most effected by the geometrical parame- ters, 0, 6. Since we have shown that reconfiguration of a tensegrity is possible, we now investigate the use of contol to directly modify the mechanical properties ofthe tenseg- Loar cos A x Be] MawsinB>26, O

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