Analysis of tensegrity structures subject to dynamic loading using a Newmark approach

Faroughi, Shirko; Lee, Jae Hong

doi:10.1016/j.jobe.2015.03.005

Cited by 16 publications

(10 citation statements)

References 24 publications

(41 reference statements)

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“…25,26 Shirko Faroughi et al derived mass and stiffness matrices of a tensegrity structure based on finite element approach. 27,28…”

Section: Introductionmentioning

confidence: 99%

A modal self-excitation method of tensegrity robots

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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A tensegrity robot is a type of soft-rigid system, whose high compliance is prone to induce structural vibrations which traditionally should be avoided. However, a stable limit cycle oscillation at a natural frequency can be exploited to improve motion efficiency of tensegrity robots. By constructing a modal self-excitation system, we can produce limit cycle oscillation for tensegrity robots. Therefore, in this paper, we propose a method to realize modal self-excitation of underactuated tensegrity robots. A task-space second-order structural model of a tensegrity robot is developed and a mapping between forces of cable-space and that of task-space is derived. Meanwhile, we propose a cable sensitivity vector from modal shape to guide the selection of active cables in the tensegrity robot. A modal self-excitation system is designed by combining a bandpass filter with a describing function into the control system. In this way, a limit cycle oscillation at a frequency can be formed close to the desired natural frequency. The stability of this limit cycle oscillation is analyzed by perturbation method. Modal switching excitation is also achieved by switching between different modal excitation loops online. The effectiveness of the proposed modal self-excitation method for tensegrity robots is verified by several numerical simulations and tests.

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“…25,26 Shirko Faroughi et al derived mass and stiffness matrices of a tensegrity structure based on finite element approach. 27,28…”

Section: Introductionmentioning

confidence: 99%

A modal self-excitation method of tensegrity robots

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Muvengei et al studied the dynamic behavior of planar rigid-body systems using the fine model for considering dynamic interaction of multiple revolute joints with clearances [13]. Although such excellent research works have reached a relatively high degree of maturity, there are still many new questions in need of solution, and their many design concepts and computational methods are still not fully accepted as a feasible engineering solution, especially for lightweight deployable structures under dynamic loading, since their structural damping is generally low, and there will be a challenge when they are subjected to dynamic loading [14].…”

Section: Introductionmentioning

confidence: 99%

“…e dynamic behavior of tensegrity structures is still being widely studied due to its importance [14]. Sultan et al developed linearized motion models for certain tensegrity structures and studied their dynamic behavior [18].…”

Section: Introductionmentioning

confidence: 99%

A Computational Method for Dynamic Analysis of Deployable Structures

Wang

Sun

2020

Shock and Vibration

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A computational method is developed to study the dynamics of lightweight deployable structures during the motion process without regard to damping. Theory and implementation strategy of the developed method are given in this study. As a case study, the motion process of a bar-joint structure and a ring array scissor-type structure was simulated under external dynamic loading. In order to verify the effectiveness of the method, the simulation results are compared with the results predicted by the authenticated multibody system dynamics and simulation program. It shows that the method is effective to dynamic analysis of deployable structures no matter the structures are rigid or elastic. Displacement, velocity, and acceleration for the entire deployable structures during the motion process can be computed, as well as strain if the deployable structure is elastic.

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“…So, theoretically and using the interval computation, we can obtain the system response by intervals and frame the solution space. However, the current problem is that the evaluation of this method coupled with Newmark and Newton Raphson (Faroughi and Lee, 2015) and (Gościniak and Gdawiec, 2019) to determine the dynamic response has not yet been tested on a scalable example. Therefore, the main objective of this work is to evaluate the effectiveness of the interval simulation method to simulate the dynamic behavior of an electromagnetic spindle by intervals.…”

Section: Introductionmentioning

confidence: 99%

Consideration of uncertainties in the preliminary design case of an electromagnetic spindle

Trabelsi¹,

Guizani²,

Tounsi³

et al. 2019

Journal of Theoretical and Applied Mechanics

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Modeling and evaluation of uncertainties constitute indeed one of the key points when making any decision. For this, designers have to compare the measured or calculated value with a range of permissible values in order to obtain a guaranteed design process. Thus, in this work, simulation of the dynamic behavior of an electromagnetic spindle was done based on the interval computation technique. Indeed, the use of this technique makes it possible to obtain a set of values for different design parameters of the spindle and, consequently, to avoid making several simulations which could make the system useless, expensive or ineffective. The proposed model is based on the combination of Matlab with ModelCenter. Matlab was used to model and simulate the system and ModelCenter to perform parametric studies to verify the influences of uncertainty on the dynamic behavior of the electromagnetic spindle and to determine the optimal design parameters.

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Analysis of tensegrity structures subject to dynamic loading using a Newmark approach

Cited by 16 publications

References 24 publications

A modal self-excitation method of tensegrity robots

A modal self-excitation method of tensegrity robots

A Computational Method for Dynamic Analysis of Deployable Structures

Consideration of uncertainties in the preliminary design case of an electromagnetic spindle

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