Loading…

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...

Full description

Saved in:
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:
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3
cites cdi_FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3
container_end_page 208
container_issue
container_start_page 198
container_title Journal of sound and vibration
container_volume 437
creator Schorr, P.
Böhm, V.
Zentner, L.
Zimmermann, K.
description 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.
doi_str_mv 10.1016/j.jsv.2018.09.019
format article
fullrecord <record><control><sourceid>proquest_cross</sourceid><recordid>TN_cdi_proquest_journals_2130280509</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><els_id>S0022460X18305984</els_id><sourcerecordid>2130280509</sourcerecordid><originalsourceid>FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3</originalsourceid><addsrcrecordid>eNp9kEtPwzAQhC0EEqXwA7hZ4pywdhI3ESdU8ZKKuIDEzXLsDXWUR2s7Rf33uJQzp5F2Z2ZXHyHXDFIGTNy2aet3KQdWplClwKoTMmNQFUlZiPKUzAA4T3IBn-fkwvsWAKo8y2dk8zoGOw5Ur5VTOqCzPljt6dhQRXe2dup3bZzd4UD7sbYd0oCDxy9nw5764CYdJof024Y17acu2E20-KDqKLidbBdb7NQfRgH9JTlrVOfx6k_n5OPx4X35nKzenl6W96tEZ7wIiWbc8IVQpmxKxEZwzbkpaqZrgYUCoTOTc-RNCQsjhBI5osJFlZsSVG50nc3JzbF348bthD7IdpzcEE9KzjLgJRRQRRc7urQbvXfYyI2zvXJ7yUAewMpWRrDyAFZCJSPYmLk7ZjC-v7PopNcWB43GOtRBmtH-k_4BW46E_g</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2130280509</pqid></control><display><type>article</type><title>Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states</title><source>ScienceDirect Freedom Collection 2022-2024</source><creator>Schorr, P. ; Böhm, V. ; Zentner, L. ; Zimmermann, K.</creator><creatorcontrib>Schorr, P. ; Böhm, V. ; Zentner, L. ; Zimmermann, K.</creatorcontrib><description>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.</description><identifier>ISSN: 0022-460X</identifier><identifier>EISSN: 1095-8568</identifier><identifier>DOI: 10.1016/j.jsv.2018.09.019</identifier><language>eng</language><publisher>Amsterdam: Elsevier Ltd</publisher><subject>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</subject><ispartof>Journal of sound and vibration, 2018-12, Vol.437, p.198-208</ispartof><rights>2018 Elsevier Ltd</rights><rights>Copyright Elsevier Science Ltd. Dec 22, 2018</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3</citedby><cites>FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,780,784,27924,27925</link.rule.ids></links><search><creatorcontrib>Schorr, P.</creatorcontrib><creatorcontrib>Böhm, V.</creatorcontrib><creatorcontrib>Zentner, L.</creatorcontrib><creatorcontrib>Zimmermann, K.</creatorcontrib><title>Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states</title><title>Journal of sound and vibration</title><description>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.</description><subject>Actuation</subject><subject>Compliant tensegrity structure</subject><subject>Configurations</subject><subject>Equilibrium</subject><subject>Motion control</subject><subject>Motion systems</subject><subject>Multistability</subject><subject>Prestressing</subject><subject>Steady state</subject><subject>Structural engineering</subject><subject>Systems stability</subject><subject>Tensegrity structures</subject><subject>Vibration</subject><subject>Vibration driven motion</subject><subject>Vibration mode</subject><issn>0022-460X</issn><issn>1095-8568</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><recordid>eNp9kEtPwzAQhC0EEqXwA7hZ4pywdhI3ESdU8ZKKuIDEzXLsDXWUR2s7Rf33uJQzp5F2Z2ZXHyHXDFIGTNy2aet3KQdWplClwKoTMmNQFUlZiPKUzAA4T3IBn-fkwvsWAKo8y2dk8zoGOw5Ur5VTOqCzPljt6dhQRXe2dup3bZzd4UD7sbYd0oCDxy9nw5764CYdJof024Y17acu2E20-KDqKLidbBdb7NQfRgH9JTlrVOfx6k_n5OPx4X35nKzenl6W96tEZ7wIiWbc8IVQpmxKxEZwzbkpaqZrgYUCoTOTc-RNCQsjhBI5osJFlZsSVG50nc3JzbF348bthD7IdpzcEE9KzjLgJRRQRRc7urQbvXfYyI2zvXJ7yUAewMpWRrDyAFZCJSPYmLk7ZjC-v7PopNcWB43GOtRBmtH-k_4BW46E_g</recordid><startdate>20181222</startdate><enddate>20181222</enddate><creator>Schorr, P.</creator><creator>Böhm, V.</creator><creator>Zentner, L.</creator><creator>Zimmermann, K.</creator><general>Elsevier Ltd</general><general>Elsevier Science Ltd</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>KR7</scope></search><sort><creationdate>20181222</creationdate><title>Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states</title><author>Schorr, P. ; Böhm, V. ; Zentner, L. ; Zimmermann, K.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2018</creationdate><topic>Actuation</topic><topic>Compliant tensegrity structure</topic><topic>Configurations</topic><topic>Equilibrium</topic><topic>Motion control</topic><topic>Motion systems</topic><topic>Multistability</topic><topic>Prestressing</topic><topic>Steady state</topic><topic>Structural engineering</topic><topic>Systems stability</topic><topic>Tensegrity structures</topic><topic>Vibration</topic><topic>Vibration driven motion</topic><topic>Vibration mode</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Schorr, P.</creatorcontrib><creatorcontrib>Böhm, V.</creatorcontrib><creatorcontrib>Zentner, L.</creatorcontrib><creatorcontrib>Zimmermann, K.</creatorcontrib><collection>CrossRef</collection><collection>Mechanical &amp; Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Civil Engineering Abstracts</collection><jtitle>Journal of sound and vibration</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Schorr, P.</au><au>Böhm, V.</au><au>Zentner, L.</au><au>Zimmermann, K.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states</atitle><jtitle>Journal of sound and vibration</jtitle><date>2018-12-22</date><risdate>2018</risdate><volume>437</volume><spage>198</spage><epage>208</epage><pages>198-208</pages><issn>0022-460X</issn><eissn>1095-8568</eissn><abstract>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.</abstract><cop>Amsterdam</cop><pub>Elsevier Ltd</pub><doi>10.1016/j.jsv.2018.09.019</doi><tpages>11</tpages></addata></record>
fulltext fulltext
identifier ISSN: 0022-460X
ispartof Journal of sound and vibration, 2018-12, Vol.437, p.198-208
issn 0022-460X
1095-8568
language eng
recordid cdi_proquest_journals_2130280509
source ScienceDirect Freedom Collection 2022-2024
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
title Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T17%3A12%3A33IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_cross&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Motion%20characteristics%20of%20a%20vibration%20driven%20mobile%20tensegrity%20structure%20with%20multiple%20stable%20equilibrium%20states&rft.jtitle=Journal%20of%20sound%20and%20vibration&rft.au=Schorr,%20P.&rft.date=2018-12-22&rft.volume=437&rft.spage=198&rft.epage=208&rft.pages=198-208&rft.issn=0022-460X&rft.eissn=1095-8568&rft_id=info:doi/10.1016/j.jsv.2018.09.019&rft_dat=%3Cproquest_cross%3E2130280509%3C/proquest_cross%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c325t-c12d276ad8f8eef62c22d5b1cb6e5a06c3d42e2f807d66a64eeae794d80a4dcb3%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_pqid=2130280509&rft_id=info:pmid/&rfr_iscdi=true