Gonzalez-Fallas 2019a - Revision history

Andrés-González-Fallas: Blanked the page

2021-11-19T17:24:12Z

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Andrés-González-Fallas: Andrés-González-Fallas moved page Draft Gonzalez-Fallas 730376725 to Gonzalez-Fallas 2019a

2021-11-19T16:00:06Z

Andrés-González-Fallas moved page Draft Gonzalez-Fallas 730376725 to Gonzalez-Fallas 2019a

Andrés-González-Fallas: Created page with " == Abstract == The use of tensegrity structures in soft robotics has seen an increased interest in recent years thanks to their mechanical properties, but the control of the..."

2021-11-19T16:00:04Z

Created page with " == Abstract == The use of tensegrity structures in soft robotics has seen an increased interest in recent years thanks to their mechanical properties, but the control of the..."

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== Abstract ==

The use of tensegrity structures in soft robotics has seen an increased interest in recent years thanks to their mechanical properties, but the control of these systems remains an open problem. This paper presents a reconfiguration strategy for actuated multi-stage tensegrity structures. The algorithm works on the principle of using the infinitesimal mechanisms of the structure to generate a path of positions along which a multistage tensegrity structure can change its shape while maintaining the self-equilibrium. Combining the force density method with a marching procedure, the solution to the equilibrium problem is given by a set of differential equations that define the kinematic constraints of the structure. Beginning from an initial stable position, the algorithm calculates a small displacement until a new stable configuration is reached, and recurrently repeats the process during a given interval of time. By means of three numerical examples, we show the efficacy of our algorithm for reconfiguring a two-stage tensegrity mast along different directions.

== Full document ==
<pdf>Media:Draft_Gonzalez-Fallas_730376725-5078-document.pdf</pdf>

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−	~~== Abstract ==~~
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−	The use of tensegrity structures in soft robotics has seen an increased interest in recent years thanks to their mechanical properties, but the control of these systems remains an open problem. This paper presents a reconfiguration strategy for actuated multi-stage tensegrity structures. The algorithm works on the principle of using the infinitesimal mechanisms of the structure to generate a path of positions along which a multistage tensegrity structure can change its shape while maintaining the self-equilibrium. Combining the force density method with a marching procedure, the solution to the equilibrium problem is given by a set of differential equations that define the kinematic constraints of the structure. Beginning from an initial stable position, the algorithm calculates a small displacement until a new stable configuration is reached, and recurrently repeats the process during a given interval of time. By means of three numerical examples, we show the efficacy of our algorithm for reconfiguring a two-stage tensegrity mast along different directions.
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−	~~== Full document ==~~
−	~~<pdf>Media:Draft_Gonzalez-Fallas_730376725-5078-document.pdf</pdf>~~

← Older revision	Revision as of 16:00, 19 November 2021
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