Nodal flexibility and kinematic indeterminacy analyses of symmetric tensegrity structures using orbits of nodes

Chen, Yao; Yan, Jerry; Sareh, Pooya; Feng, Jian

doi:10.1016/j.ijmecsci.2019.02.021

Cited by 35 publications

(6 citation statements)

References 49 publications

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“…29 The total node-space stiffness is composed by passive and active stiffness of cables. 30,31 The active stiffness is induced by selfstresses. 24…”

Section: Mathematical Modelmentioning

confidence: 99%

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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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“…29 The total node-space stiffness is composed by passive and active stiffness of cables. 30,31 The active stiffness is induced by selfstresses. 24…”

Section: Mathematical Modelmentioning

confidence: 99%

“…29 The total node-space stiffness is composed by passive and active stiffness of cables. 30,31 The active stiffness is induced by selfstresses. 24 Assuming D is the proportional damping matrix, 32 the ith mode of the undamped system is derived as follows…”

Section: Task and Modal Space Second-order Structural Modelmentioning

confidence: 99%

A modal self-excitation method of tensegrity robots

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Therefore, according to the principle of symmetry, a quarter of the membrane surface was chosen to be loaded. The dynamic response data (such as displacement) of the membrane node is of fundamental significance for the stability evaluation of the whole membrane surface (Chen et al, 2019). Thus, the dynamic response of the feature points (as shown in Figure 1) on membrane surface is monitored by laser displacement sensors (as shown in Figure 2).…”

Section: Experimental Studymentioning

confidence: 99%

Hailstone-induced dynamic responses of pretensioned umbrella membrane structure

Liu

Wang

Deng

et al. 2020

Advances in Structural Engineering

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The membrane structure is a flexible structure, which is easy to vibrate or even relax under dynamic load. Engineering accident analysis shows that the relaxation of membrane structure is more likely to lead to structural failure. In this article, the impact load problem is combined with the flexible structure to analyze the impact of hailstone impact load on the dynamic response of membrane structure. First, the umbrella membrane stretching device was designed and manufactured, and the hailstone impact test was carried out on the umbrella membrane structure with polyvinyl chloride membrane material. Dynamic response data, tension relaxation of side cables and vibration deformation of umbrella membrane structures impacted by hailstones with different sizes and different characteristic points were obtained. In the numerical analysis, the form-finding analysis of umbrella membrane structure is carried out by finite element method, and the transient impact analysis is conducted in LS-DYNA. Finally, the reliability of the research results is verified by comparing the numerical and experimental results. The general laws and conclusions are drawn and the disaster-causing mechanism of membrane structure impacted by hailstone is revealed. On the whole, although the probability of hailstone destroying the membrane material directly is very small, it will relax the membrane structure and affect the safety of membrane structure. The conclusions of this article provide a theoretical basis for the design and maintenance of membrane structures.

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“…With the advantages of light weight, rapid construction, and low cost, space frame structures have been widely adopted in long-span buildings, such as sports arenas, exhibition pavilions, transportation terminals, warehouses, and factories. It is worth noting that as-designed building information modeling (BIM) models of space frame structures can facilitate structural optimization during the design phase [4][5][6][7], and the as-built BIM models have gained more attention due to their increasing applications in construction, operation, and maintenance [8][9][10]. During a construction process, real-time quality control and early defects detection can be effectively achieved based on as-built BIM models.…”

Section: Introductionmentioning

confidence: 99%

Semi-Automated BIM Reconstruction of Full-Scale Space Frames with Spherical and Cylindrical Components Based on Terrestrial Laser Scanning

Cheng

Liu

et al. 2023

Remote Sensing

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As-built building information modeling (BIM) model has gained more attention due to its increasing applications in construction, operation, and maintenance. Although methods for generating the as-built BIM model from laser scanning data have been proposed, few studies were focused on full-scale structures. To address this issue, this study proposes a semi-automated and effective approach to generate the as-built BIM model for a full-scale space frame structure with terrestrial laser scanning data, including the large-scale point cloud data (PCD) registration, large-scale PCD segmentation, and geometric parameters estimation. In particular, an effective coarse-to-fine data registration method was developed based on sphere targets and the oriented bounding box. Then, a novel method for extracting the sphere targets from full-scale structures was proposed based on the voxelization algorithm and random sample consensus (RANSAC) algorithm. Next, an efficient method for extracting cylindrical components was presented based on the detected sphere targets. The proposed approach is shown to be effective and reliable through the application of actual space frame structures.

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Nodal flexibility and kinematic indeterminacy analyses of symmetric tensegrity structures using orbits of nodes

Cited by 35 publications

References 49 publications

A modal self-excitation method of tensegrity robots

A modal self-excitation method of tensegrity robots

Hailstone-induced dynamic responses of pretensioned umbrella membrane structure

Semi-Automated BIM Reconstruction of Full-Scale Space Frames with Spherical and Cylindrical Components Based on Terrestrial Laser Scanning

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