Deployment of a class 2 tensegrity boom

Jean-Paul Pinaud; Soren Solari; Robert E. Skelton

doi:10.1117/12.540150

26 July 2004 Deployment of a class 2 tensegrity boom

Jean-Paul Pinaud, Soren Solari, Robert E. Skelton

Proceedings Volume 5390, Smart Structures and Materials 2004: Smart Structures and Integrated Systems; (2004) https://doi.org/10.1117/12.540150
Event: Smart Structures and Materials, 2004, San Diego, CA, United States

Abstract

Tensegrity structures are special truss structures composed of bars in compression and cables in tension. Most tensegrity structures under investigation, to date, have been of Class 1, where bars do not touch. In this article, however, we demonstrate the hardware implementation of a 2 stage symmetric Class 2 tensegrity structure, where bars do connect to each other at a pivot. The open loop control law for tendon lengths to accomplish the desired geometric reconfiguration are computed analytically. The velocity of the structure's height is chosen and reconfiguration is accomplished in a quasi-static manner, ignoring dynamic effects. The main goal of this research was to design, build, and test the capabilities of the Class 2 structure for deployment concepts and to further explore the possibilities of multiple stage structures using the same design and components.

Citation Download Citation

Jean-Paul Pinaud, Soren Solari, and Robert E. Skelton "Deployment of a class 2 tensegrity boom", Proc. SPIE 5390, Smart Structures and Materials 2004: Smart Structures and Integrated Systems, (26 July 2004); https://doi.org/10.1117/12.540150

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available