54 Results Found

Tensegrity structures have developed greatly in recent years due to their unique mechanical, structural, and mathematical properties. This study presents the design and fabrication of a tensegrity structure prototype. A pretensioning device is design...

The development of morphing wings is in the pursuit of lighter weight, higher stiffness and strength, and better flexible morphing ability. A structure that can be used as both the bearing structure and the morphing mechanism is the optimal choice fo...

This paper presents a novel variable stiffness mechanism, namely the SBTDTS (Spinal Biomimetic Two-Dimensional Tensegrity Structure), which is constructed by integrating bioinspiration derived from biological spinal structures with the T-Bar mechanic...

A tensegrity model can be used to describe the mechanical behavior of living cells. A finite element model (FEM) was used to assess the mechanical contribution of subcellular organelles. Continuum parts like the cytoplasm and membrane were modeled as...

The present paper discusses different aspects of the structural control of smart systems with a focus on tensegrity structures. Special attention is paid to unique features of tensegrity systems, referred to by the authors as inherent, which are indu...

This study aims to design a novel combined spherical tensegrity structure and evaluate its cushioning performance to offer a new option for a planetary exploration landing mechanism. Initially, based on the circumferential assembling method, a &ldquo...

An analytical form-finding method for regular tensegrity structures based on the concept of force density is presented. The self-equilibrated state can be deduced linearly in terms of force densities, and then we apply eigenvalue decomposition to the...

The paper contains a parametric analysis of tensegrity structures subjected to time-independent external loads. A complete dynamic stability analysis is a three-step process. The first stage involves the identification of self-stress states and infin...

The aim of this study is to prove that it is possible to control the static behavior of tensegrity plate-like structures. This possibility is very important, particularly in the case of deployable structures. Here, we analyze the impact the support c...

The construction industry is a major contributor to global carbon emissions, driving the need for sustainable solutions. Ultra-lightweight structures have emerged as an effective approach to reducing material usage and energy consumption. This study...

The paper contains a parametric analysis of tensegrity structures subjected to periodic loads. The analysis focuses on determining the main region of dynamic instability. When load parameters fall within this region, the resulting vibration amplitude...

This paper presents a methodology for implementing a Kalman filter on an icosahedral tensegrity system capable of performing state estimation on an icosahedral structure. A motion model based on the geometry of the system and a measurement model base...

Tensegrity robots offer several advantageous features, such as being hyper-redundant, lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits, tensegrity structures are also recognized for their complexity, whic...

Tensegrity structures are prestressed and self-stable pin-connected frameworks built up mainly from two kind of elements, in compression (bars) and in tension (tendons). It has been 75 years since the first official appearance of tensegrity, although...

Biological fish exhibit remarkable adaptability and exceptional swimming performance through their powerful and flexible bodies. Therefore, designing a continuum flexible body is significantly important for the development of a robotic fish. However,...

In civil engineering, there is an occasional need to assure an additional support for a structure due to the loss of the load carrying capacity (e.g., as a result of natural disasters or aging) or for a lightweight structure to support temporary obje...

Material selection is crucial for advancing sustainability in the building sector. While composites have become popular, biocomposites play a pivotal role in raising awareness of materials deriving from biomass resources. This study presents a new li...

A bionic robotic fish based on compliant structure can excite the natural modes of vibration, thereby mimicking the body waves of real fish to generate thrust and realize undulate propulsion. The fish body wave is a result of the fish body’s me...

The study includes parametric analysis of special spatial rod grids called tensegrity plate-like structures. Tensegrity structures consist of only compression and tension components arranged in a system, whose unique mechanical and mathematical prope...

In the present paper, a novel cellular metamaterial that was based on a tensegrity pattern is presented. The material is constructed from supercells, each of which consists of eight 4-strut simplex modules. The proposed metamaterial exhibits some unu...

In contemporary buildings, the architectural demand for a complete dematerialisation of load bearing structures can be satisfied only in limited cases with the exclusive structural use of glass. Otherwise, for challenging applications such as long sp...

Hydrogels with spatially programmable mechanical properties hold great potential for use in biomedical applications. Inspired by the architecture of the cytoskeleton, we present a strategy for constructing tensegrity-structured hydrogels (TS-Gels) th...

The study includes a parametric analysis of a group of tensegrity plate-like structures built with modified Quartex modules. The quantitative assessment, including the calculation of the structure’s response to constant loads, was carried out....

Due to their high kinematic characteristics, six-bar tensegrities have great potential application value in the field of robotics, especially in the field of deep space exploration robots. In this paper, an ultralight six-bar tensegrity robot is desi...

The concept of tensegrity is understood in many ways. This term is often improperly used for structures that have some, but not necessarily the key, tensegrity properties. The concept of tensegrity systems is misused in reference to both mathematical...

Tensegrity is a structure consisting of rigid bodies and internal tensile members, with no contact between the rigid bodies. The model of an arm with a tensegrity structure is not movable as it is, but we believe that it can be made movable and flexi...

Tensegrity robots that use bio-inspired structures have many superior properties over conventional robots with regard to strength, weight, compliance and robustness, which are indispensable to planetary exploration and harsh environment applications....

The mechanical behaviour of adherent cells when subjected to the local indentation can be modelled via various approaches. Specifically, the tensegrity structure has been widely used in describing the organization of discrete intracellular cytoskelet...

A bistable response is an innate feature of tensegrity metamaterials, which is a conundrum to attain in other metamaterials, since it ushers unconventional static and dynamical mechanical behaviors. This paper investigates the design, modeling, fabri...

Resilience plays an important role in improving robustness for robots in harsh environments such as planetary exploration and unstructured terrains. As a naturally compliant structure, tensegrity presents advantageous flexibility for enhancing resili...

This work establishes a tensegrity model of spider dragline silk. Tensegrity systems are ubiquitous in nature, being able to capture the mechanics of biological shapes through simple and effective modes of deformation via extension and contraction. G...

This paper is dedicated to the extended solid (continuum) model of tensegrity structures or lattices. Tensegrity is defined as a pin-joined truss structure with an infinitesimal mechanism stabilized by a set of self-equilibrated normal forces. The pr...

This paper proposes a method for simultaneously planning a path and a sequence of deformations for a tensegrity drone. Previous work in the field required the use of bounding surfaces, making the planning more conservative. The proposed method takes...

Tensegrity is a lightweight, self-stressing, and self-stabilizing structure made up of cables and bars, with each member bearing either tension or compression but not affected by shear stress. This design allows for optimal utilization of the materia...

Structural DNA nanotechnology is an emerging field and is expected to be used for various applications in materials science. In this study, we designed a DNA tensegrity triangle to accommodate the bipyridine complexes with metal ions (Ni²⁺ and Fe²⁺)...

We developed an untethered robotic tuna featuring tensegrity joints for the purposes of simplifying the design procedure, reserving enough internal space, reducing the frictional loss of structures and generating a relatively smooth fish body wave. T...

The present paper is dedicated to an evaluation of novel cellular metamaterials based on a tensegrity pattern. The materials are constructed from supercells, each of which consists of a number of simplex modules with different geometrical proportions...

The aim of the paper is to find the appropriate self-stress state of the tensegrity structures. The first approach provides exact solutions but is suitable for simple structures. In the second approach proposed in this research, it is assumed that th...

This paper presents a reliability analysis of four distinct design solutions, known as Geiger domes. These domes possess two intrinsic characteristics of tensegrity structures: infinitesimal mechanisms and self-stress states. In the absence of self-s...

Analytical paradigms have limited conventional form-finding methods of tensegrities; therefore, an innovative approach is urgently needed. This paper proposes a new form-finding method based on state-of-the-art deep learning techniques. One of the st...

Jumping robots possess the capability to surmount formidable obstacles and are well-suited for navigating through complex terrain environments. However, most of the existing jumping robots face challenges in achieving stable jumping and they also hav...

Tensegrity structures, by definition composed of compressed members suspended in a network of tensile cables, are characterised by a high strength-to-weight ratio and the ability to undergo reversible deformations. Their application as cores of sandw...

This article describes the development of a flexible surgical stapler mechanism, which serves as a fundamental tool for laparoscopic rectal cancer surgery, addressing the challenges posed by difficult types of accessibility using conventional instrum...

Inspired by the high mechanical performance of diagrid structures, the minimization of material consumption on braced tubes and the expressive potency of tensegrity modular structures, this work proposes an innovative three-dimensional system for tal...

By finding the minimum total potential energy of a structural system with a defined degree of freedoms assigned as design variables, it is possible to find the equilibrium condition of the deformed system. This method, called total potential optimiza...

This study addresses the optimization of actuator arrangements in adaptive cable–strut tension structures to enhance structural controllability and performance. Two novel optimization criteria are proposed: (1) a weighted sensitivity criterion...

Total Potential Optimization using Metaheuristic Algorithms (TPO/MA) is an alternative tool for the analysis of structures. It is shown that this emerging method is advantageous in solving nonlinear problems like trusses, tensegrity structures, cable...

To solve the non-uniformity of stress in space membrane structure and the lack of shear compliant border configuration design method, shear compliant borders are designed, optimized, and verified in terms of configuration. Firstly, an orthotropic mod...

In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in som...

This paper provides a parametric analysis of cable–strut tensegrity domes subjected to periodic loads. This analysis aims at determining the main regions of dynamic instability (unstable regions). From the point of view of the physical interpre...