Path planning for the deployment of tensegrity structures

Jean-Paul Pinaud; Milenko Masic; Robert E. Skelton

doi:10.1117/12.484029

1 August 2003 Path planning for the deployment of tensegrity structures

Jean-Paul Pinaud, Milenko Masic, Robert E. Skelton

Proceedings Volume 5049, Smart Structures and Materials 2003: Modeling, Signal Processing, and Control; (2003) https://doi.org/10.1117/12.484029
Event: Smart Structures and Materials, 2003, San Diego, California, United States

Abstract

Tensegrity structures consist of tendons (in tension) and bars (in compression). Tendons are strong, light, and foldable, so tensegrity structures have the potential to be light but strong and deployable. Pulleys, NiTi wire, or other actuators to selectively tighten some strings on a tensegrity structure can be used to control its shape. This article describes the problem of asymmetric reconfiguration of tensegrity structures and poses one method of finding the open loop control law for tendon lengths to accomplish the desired geometric reconfiguration. In addition, a practical hardware experiment displays the readiness and feasibility of the method to accomplish shape control of the structure.

Citation Download Citation

Jean-Paul Pinaud, Milenko Masic, and Robert E. Skelton "Path planning for the deployment of tensegrity structures", Proc. SPIE 5049, Smart Structures and Materials 2003: Modeling, Signal Processing, and Control, (1 August 2003); https://doi.org/10.1117/12.484029

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