Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states

A novel type of a vibration driven motion system based on a compliant tensegrity structure with multiple stable equilibrium states is considered. These equilibrium configurations correspond to different prestress states with different dynamical properties. Therefore, the motion characteristics can b...

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Bibliographic Details
Published in:Journal of sound and vibration 2018-12, Vol.437, p.198-208
Main Authors: Schorr, P., Böhm, V., Zentner, L., Zimmermann, K.
Format: Article
Language:English
Subjects:
Actuation
Compliant tensegrity structure
Configurations
Equilibrium
Motion control
Motion systems
Multistability
Prestressing
Steady state
Structural engineering
Systems stability
Tensegrity structures
Vibration
Vibration driven motion
Vibration mode
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Summary:A novel type of a vibration driven motion system based on a compliant tensegrity structure with multiple stable equilibrium states is considered. These equilibrium configurations correspond to different prestress states with different dynamical properties. Therefore, the motion characteristics can be varied by changing the equilibrium state. For the application in the fields of mobile robotics, these discrete adjustable dynamics are advantageous. The vibration modes of the structure as well as the corresponding motion characteristics of the system can be adapted to the given environmental conditions in order to ensure a reliable motion. In this paper, dynamical investigations of an exemplary two-dimensional multistable tensegrity structure are considered. For the chosen parameter values the structure features two relevant equilibrium configurations. The resulting motion system is in contact to a horizontal plane due to gravity and the actuation is realized by the harmonic variation of the length of a single tensioned member. The motion of the system is simulated for various actuation frequencies with the different equilibrium states as an initial configuration. A uniaxial or a planar movement occurs depending on the selection of the actuated member within the tensegrity structure. The steady state motion is evaluated regarding motion characteristics like the steady state velocity. Moreover, the influences on the motion behavior caused by the different equilibrium states as an initial condition are emphasized.
ISSN:0022-460X
1095-8568
DOI:10.1016/j.jsv.2018.09.019