Within this paper a novel tensegrity-mechanism is described. The mechanism is based on a tensegrity principle with multiple states of self-equilibrium. The tensegrity mechanism is built upon a mechanical compliant tensegrity structure, consisting of tensioned and compressed members. The existence of the different states of self-equilibrium depends on the parameters of deformable compressed members with continuous or discontinuous load-displacement characteristic. The working principle of the mechanism and the mechanical compliance is verified by theoretical investigations. Therefore, in the first step, the deformable compressed members are analyzed separately. With the help of the subsequent following form-finding procedure the equilibrium configurations of the mechanism and their static stability are analyzed in dependence of the mechanical parameters of the compressed and tensioned members. As a specific application case, the use of the mechanism as a variable stiffness device is discussed.
An Approach to the Realization of Multistable Tensegrity Structures with Deformable Compressed Members
Mechan. Machine Science
Conference on Microactuators and Micromechanisms ; 2024 ; Ho Chi Minh City, Vietnam November 09, 2024 - November 11, 2024
2025-03-08
8 pages
Article/Chapter (Book)
Electronic Resource
English
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