Innovative deployable antenna developments using tensegrity design

Knight, Byron F.; Duffy, Joseph; Crane, Carl D.; Rooney, J.

doi:10.2514/6.2000-1481

Cited by 17 publications

(9 citation statements)

References 3 publications

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“…The trusses are of course deployable, hence are either rigid mechanisms or cable-strut systems. Also there are hybrid designs: a Russia-Georgian design makes use of pantographs and tensioned ribs at the same time [36] Tensegrity supports are used for especially small size mesh antennas [19,37] (Fig. 3).…”

Section: Deployable Antennasmentioning

confidence: 99%

Deployable space structures

Kiper

Söylemez

2009

2009 4th International Conference on Recent Advances in Space Technologies

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Deployable structures are mobile assemblies which do not aim motion but to attain different configurations depending on the service requirements. These structures are widely used in space applications due to storage limitations of the launch vehicles. The large diversity of design alternatives should be evaluated in design of deployable parts of spacecrafts. This study aims to present design alternatives of antennas, masts and solar panels of space devices. Also use of spatial linkages in deployable structure designs is discussed.

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Section: Deployable Antennasmentioning

confidence: 99%

Deployable space structures

Kiper

Söylemez

2009

2009 4th International Conference on Recent Advances in Space Technologies

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“…The mechanism discussed in this paper is based on the reinforced tensegrity octahedron (or simplex) architecture proposed by Knight [2]. As shown in Fig.…”

Section: Description Of Mechanism Architecturementioning

confidence: 99%

“…Several applications of tensegrity-based mechanisms already exist. These applications range from deployable satellite antennae [2] to flight simulators [3]. There have also been several proposed designs for mobile robots that use tensegrity mechanisms to produce gait [4] and snakelike locomotion [5].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Translational 3-Dof Tensegrity Mechanism

Mohr

Arsenault

2011

Transactions of the Canadian Society for Mechanical Engineering

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This paper presents a novel three-degree-of-freedom mechanism based on a known tensegrity architecture. The mechanism is cable driven and shown to exhibit three-dimensional translational motion. Analytical solutions to the direct and inverse kinematic problems are produced based on the geometry and statics of the mechanism. The boundaries of the reachable Cartesian workspace are developed based on maintaining valid tensegrity configurations and requiring the actuated cables to be in tension. The low inertia, relatively large workspace volume and the movement produced by the mechanism make it promising for high speed applications such as pick and place operations.

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“…This has gained them widespread popularity in architectural design for structures such as bridges and geodesic domes [19]. Their utility has also been recognized for the design of lightweight space structures such as deployable masts [17] and reflector antennas [27], [49].…”

Section: Introductionmentioning

confidence: 99%

Design and control of tensegrity robots for locomotion

2006

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The static properties of tensegrity structures have been widely appreciated in civil engineering as the basis of extremely lightweight yet strong mechanical structures. However, the dynamic properties and their potential utility in the design of robots have been relatively unexplored. This paper introduces robots based on tensegrity structures, which demonstrate that the dynamics of such structures can be utilized for locomotion. Two tensegrity robots are presented: TR3, based on a triangular tensegrity prism with three struts, and TR4, based on a quadrilateral tensegrity prism with four struts. For each of these robots, simulation models are designed, and automatic design of controllers for forward locomotion are performed in simulation using evolutionary algorithms. The evolved controllers are shown to be able to produce static and dynamic gaits in both robots. A real-world tensegrity robot is then developed based on one of the simulation models as a proof of concept. The results demonstrate that tensegrity structures can provide the basis for lightweight, strong, and fault-tolerant robots with a potential for a variety of locomotor gaits.

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Innovative deployable antenna developments using tensegrity design

Cited by 17 publications

References 3 publications

Deployable space structures

Deployable space structures

Kinematic Analysis of a Translational 3-Dof Tensegrity Mechanism

Design and control of tensegrity robots for locomotion

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