Tensegrity-based continuum manipulators (TCMs) are rigid-flexible coupling mechanisms that show great promise for applications in unstructured environments by actively or passively …
Tensegrity structures are self-equilibrium systems connected by compression rods and tension strings. They represent a promising structural type in aerospace applications due to …
Abstract Tensegrity systems represent promising candidate mechanisms with in situ stiffness variability through changing the cables’ prestress levels. However, prestress-based …
Tensegrity manipulators are rigid-flexible coupling elastic mechanisms with complex stiffness characteristics. By changing the prestress levels of tensile cables, the manipulators …
Abstract Robots require compliant actuators capable of reducing tremendous stress shocks while maintaining fast response and lightweight. Bistable tensegrity structures have …
We consider the periodic behavior of the generalized Chazy differential equation x ⃛ + textbar x textbar q x ¨ + k textbar x textbar q x x ˙ 2 = 0 , where q is a …
We propose a unified approach to dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are …
Constructing an efficient high-order nonsmooth time-stepping integration scheme for rigid--flexible multibody systems with frictional contacts and impacts is a challenging task. …
This paper investigates the numerical features of equivalent Lagrangian formulations for general mechanical systems and gives new insight into the error reduction of the …
Tensegrity robots are composed of simple members (rigid bodies and tensile cables) and have features like lightweight, compliance, and robustness, thus representing a promising …