Deployable Tensegrity Robots Tel Aviv
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Transcript of Deployable Tensegrity Robots Tel Aviv
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TEL AVIV UNIVERSITYTEL AVIV UNIVERSITYFACULTY OF ENGINEERINGFACULTY OF ENGINEERING
SCHOOL OF MECHANICAL ENGINEERINGSCHOOL OF MECHANICAL ENGINEERING
Deployable Tensegrity RobotsDeployable Tensegrity RobotsOffer ShaiOffer Shai
Uri Ben HananUri Ben HananYefim MorYefim Mor
Michael SlovotinMichael SlovotinLeon GinzburgLeon GinzburgAvner Bronfeld Avner Bronfeld
Itay TehoriItay Tehori
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TENSEGRITYTENSEGRITYSYSTEMSSYSTEMS
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TensegrityTensegrity TenTensegritysegrity = = tensiontension + + integrityintegrity
Tensegrity Elements: Tensegrity Elements:
Cables – sustain only tension. Cables – sustain only tension.
Struts – Sustain only compression. Struts – Sustain only compression.
The equilibrium between the two The equilibrium between the two types of forces yields static types of forces yields static stabilized system – Self-stress.stabilized system – Self-stress.
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We are looking for structures that:We are looking for structures that:
1.1. In generic configuration the self-stress is in In generic configuration the self-stress is in all all the elementsthe elements. .
2. There are no 2. There are no failing joints.failing joints.
3. Changing the position of any element can3. Changing the position of any element can bring to a bring to a singular position.singular position.
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Structures that satisfy the Structures that satisfy the three conditions are three conditions are AssurAssur
structures (graphs) and only structures (graphs) and only them.them.
1. Recski A. and Shai O., "Tensegrity Frameworks in the One-1. Recski A. and Shai O., "Tensegrity Frameworks in the One- Dimensional Space", accepted for publication in Dimensional Space", accepted for publication in European European Journal of Combinatorics Journal of Combinatorics..
2. Servatius B., Shai O. and Whiteley W., “Combinatorial2. Servatius B., Shai O. and Whiteley W., “Combinatorial Characterization of the Assur Graphs from Engineering”, Characterization of the Assur Graphs from Engineering”, accepted for publication in accepted for publication in European Journal of CombinatoricsEuropean Journal of Combinatorics..
3. Servatius B., Shai O. and Whiteley W., “Geometric Properties of 3. Servatius B., Shai O. and Whiteley W., “Geometric Properties of Assur Graphs”, submitted to the Assur Graphs”, submitted to the European Journal of European Journal of Combinatorics Combinatorics
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Assur Structure Assur Structure
Structure with zero mobility that does not posses a Structure with zero mobility that does not posses a simple sub-structure with the same mobility.simple sub-structure with the same mobility.
In 2D, all the topologies of all the Assur structures In 2D, all the topologies of all the Assur structures are known (Shai, 2008). In 3D, we hope to have are known (Shai, 2008). In 3D, we hope to have them.them.
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Hierarchic Order of Assur Groups in 2DHierarchic Order of Assur Groups in 2D
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Assur structureAssur structure + + Driving linksDriving links = Mechanism = Mechanism
Comment: we are in the direction to have the topologies of all Comment: we are in the direction to have the topologies of all the possible topologies of Mechanisms.the possible topologies of Mechanisms.
Next: singularity property of Assur Structures.Next: singularity property of Assur Structures.
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Assur structures are a group of statically Assur structures are a group of statically determinate structuresdeterminate structures
Special property – while in a certain configuration Special property – while in a certain configuration applying an external forceapplying an external force
creates a self-stress in all the elementscreates a self-stress in all the elements
The structure will be rigidThe structure will be rigid
Singular point
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Dyad- basic Assur Dyad- basic Assur structurestructure Structure in a singular position butStructure in a singular position but
with a failing joint. Thus, not Assur structurewith a failing joint. Thus, not Assur structure
A
Singular point
Triad in singular position alwaysTriad in singular position alwaysStiff- no movements Stiff- no movements
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Deployable Tensegrity Structures (Assur)Deployable Tensegrity Structures (Assur)
The device employs all the properties The device employs all the properties introduced before.introduced before.
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Tensile elements Tensile elements cablescablesCompressed elements -> actuatorsCompressed elements -> actuators
cablecable
strut
Controlling cable and Controlling cable and actuators length actuators length changing structure’s shapechanging structure’s shapewhile remaining stiffwhile remaining stiff
Controlling cable length
motor
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It is proved that changing the length of It is proved that changing the length of one element,one element,a cable, brings the system into a singular position. a cable, brings the system into a singular position.
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2 Plates
3 Cables
3 Actuators
Closed loop control system maintains the tension Closed loop control system maintains the tension during shape modificationsduring shape modifications
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The proposed control algorithm uses the Assur structuresThe proposed control algorithm uses the Assur structures
Property – Property – only one cable keeps the tension while all only one cable keeps the tension while all other elements change their lengthother elements change their length
Load Cell
CableCoilingsystem
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ROBOTROBOT
Applying principles to 3D creates a multi Applying principles to 3D creates a multi shape robotshape robot
-Maintain rigidity constantly-Maintain rigidity constantly-Retracts to a compact shape-Retracts to a compact shape-lightweight-lightweight-Multiple geometry-Multiple geometry-Modular-Modular