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Mechanical Systems Design Handbook P17

Tensegrity structures are built of bars and strings attached to the ends of the bars. The bars can resist compressive force and the strings cannot. Most bar–string configurations which one might conceive are not in equilibrium, and if actually constructed will collapse to a different shape. Only bar–string configurations in a stable equilibrium will be called tensegrity structures . | III Dynamics and Control of Aerospace Systems Robert E. Skelton 2002 by CRC Press LLC 17 An Introduction to the Mechanics of Tensegrity Structures Robert E. Skelton University of California San Diego J. William Helton University of California San Diego Rajesh Adhikari University of California San Diego Jean-Paul Pinaud University of California San Diego Waileung Chan University of California San Diego 17.1 Introduction The Benefits of Tensegrity Definitions and Examples The Analyzed Structures Main Results on Tensegrity Stiffness Mass vs. Strength 17.2 Planar Tensegrity Structures Efficient in Bending Bending Rigidity of a Single Tensegrity Unit Mass Efficiency of the C2T4 Class 1 Tensegrity in Bending Global Bending of a Beam Made from C2T4 Units A Class 1 C2T4 Planar Tensegrity in Compression Summary 17.3 Planar Class K Tensegrity Structures Efficient in Compression Compressive Properties of the C4T2 Class 2 Tensegrity C4T2 Planar Tensegrity in Compression Self-Similar Structures of the C4T1 Type Stiffness of the C4T1 Structure C4T1 Structure with Elastic Bars and Constant Stiffness Summary 17.4 Statics of a 3-Bar Tensegrity Classes of Tensegrity Existence Conditions for 3-Bar SVD Tensegrity Load-Deflection Curves and Axial Stiffness as a Function of the Geometrical Parameters Load-Deflection Curves and Bending Stiffness as a Function of the Geometrical Parameters Summary of 3-Bar SVD Tensegrity Properties 17.5 Concluding Remarks Pretension vs. Stiffness Principle Small Control Energy Principle Mass vs. Strength A Challenge for the Future Appendix 17.A Nonlinear Analysis of Planar Tensegrity Appendix 17.B Linear Analysis of Planar Tensegrity Appendix 17.C Derivation of Stiffness of the C4T1 Structure 2002 by CRC Press LLC Abstract Tensegrity structures consist of strings in tension and bars in compression . Strings are strong light and foldable so tensegrity structures have the potential to be light but strong and deployable. Pulleys NiTi wire or other actuators