Adaptive control of a deployable tensegrity structure

Hybrid design method for wind-adaptive architecture

“…Models that are too small cannot represent full-scale realities precisely enough for adaptive-geometry studies, while ¼ scaled model (near full-scale) can be considered satisfying. 13 The hybrid design method, driven by the wind, consists of the following: (a) preliminary study: wind data for the studied site, (b) specific study: structural, tensegrity-membrane system capable of the shape response when subjected to the wind pressure, (c) application: local shape change, caused by the material and geometric properties of the structural system, applied on designed building envelope, and (d) performance in the wind: wind flow pattern and wind surface pressure evaluation.…”

Deployment and Shape Change of a Tensegrity Structure Using Path-Planning and Feedback Control

“…Although each node is connected sequentially, cable-length changes occur in all active cables for successful connection at midspan of one pair of end-nodes. Similar to the algorithm described by Veuve et al (2017), the objective is to reduce the distance between the selected pair of end-nodes to zero, thus establishing a connection. The maximum incremental movement of active cables is set at 1 [cm] so that the goal is not surpassed.…”

“…In a second stage, control feedback, proposed by Veuve et al (2016), has enabled subsequent control-commands that join the connector nodes and ensure successful locking of the two halves. Although control cases were reused by Veuve et al (2017) for faster and effective control during midspan connection, the deployment trajectory was often uneven, thus limiting efforts to further reduce deployment time. Sultan and Skelton (2003) presented work of a deployment trajectory close to the equilibrium manifold of a small-scale tensegrity tower approximately 40 [cm] tall.…”

“…These challenges often increased the difference between simulated and measured deployment behavior. Deployment of a near-fullscale tensegrity structure without significant end-node position variation has not been possible in the laboratory (Veuve et al, 2016(Veuve et al, , 2017. It is therefore unlikely that a similar full-scale structure in service would be able to achieve repeatable deployed nodal positions.…”

A variational formulation for motion design of adaptive compliant structures

“…Ibrahimbegovic et al 52 successfully combined optimal control with nonlinear structural mechanics of a beam to reach a deformed end configuration with certain properties. Furthermore, Veuve et al, 30 Sychterz and Smith, 31 and Masic and Skelton 29 used motion planning algorithms for the trajectory planning of tensegrity structures.…”