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Communication Dans Un Congrès Année : 2012

A transformable tensegrity-ring footbridge

Résumé

Tensegrity structures are spatial reticulated structures composed of cables and struts. A tension-compression equilibrium leads to lightweight systems that change shape through length changes in their members. Active members thus control several degrees of freedom simultaneously. Tensegrity-ring modules are transformable circuit-pattern modules. The linear combination of tensegrity rings has been shown to be viable for a footbridge application. Shape transformations of a ¼ scale four-ring-module tensegrity-footbridge system are studied in this paper. Transformations are obtained employing active continuous cables and springs in the tensegrity system to reduce the number of active elements. Obtaining a desired shape may involve independent actuation in several active elements. Independent actuation steps are found with the combination of a dynamic relaxation algorithm and a stochastic search algorithm.
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Dates et versions

hal-00857383 , version 1 (03-09-2013)

Identifiants

  • HAL Id : hal-00857383 , version 1

Citer

Landolf Rhode-Barbarigos, René Motro, Ian F.C. Smith. A transformable tensegrity-ring footbridge. 2012 IASS-APCS Symposium, May 2012, Séoul, South Korea. 8 p. ⟨hal-00857383⟩
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