Optimal topology and geometry for controllable tensegrity systems

A.G. Jager, de; M. Masic; R.E. Skelton

Optimal topology and geometry for controllable tensegrity systems

A.G. Jager, de, M. Masic, R.E. Skelton

Control Systems Technology

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Abstract

This paper demonstrates a procedure to design an optimal mass to stiffness ratio tensegrity structure. Starting from an initial layout of the structure that defines an allowed set of element connections, the procedure defines positions of the nodal points of the structure, volumes of the elements and their rest lengths yielding a tensegrity structure having smaller compliance for a given load applied then an initial design. To satisfy design requirements strength constraint for all the elements of the structure, buckling constraint for bar elements as well as constraint on geometry of the structure are imposed yielding a nonconvex nonlinear constrained optimization problem. Structural static response is computed using complete nonlinear large displacement model. Examples showing optimal layout of a 2D and 3D structure are shown.

Original language	English
Title of host publication	Proceedings of the 15th IFAC world congress : 21-26 July 2002, Barcelona, Spain
Editors	E.F. Camacho, L. Basanez
Place of Publication	Oxford
Publisher	Pergamon
Number of pages	6
ISBN (Print)	0-08-044295-1
Publication status	Published - 2003
Event	15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress) - Barcelona, Spain Duration: 21 Jul 2002 → 26 Jul 2002 Conference number: 15

Conference

Conference	15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress)
Abbreviated title	IFAC 2002
Country/Territory	Spain
City	Barcelona
Period	21/07/02 → 26/07/02

Cite this

@inproceedings{645cb19263a54c69ba6c40832ab25e31,

title = "Optimal topology and geometry for controllable tensegrity systems",

abstract = "This paper demonstrates a procedure to design an optimal mass to stiffness ratio tensegrity structure. Starting from an initial layout of the structure that defines an allowed set of element connections, the procedure defines positions of the nodal points of the structure, volumes of the elements and their rest lengths yielding a tensegrity structure having smaller compliance for a given load applied then an initial design. To satisfy design requirements strength constraint for all the elements of the structure, buckling constraint for bar elements as well as constraint on geometry of the structure are imposed yielding a nonconvex nonlinear constrained optimization problem. Structural static response is computed using complete nonlinear large displacement model. Examples showing optimal layout of a 2D and 3D structure are shown.",

author = "{Jager, de}, A.G. and M. Masic and R.E. Skelton",

year = "2003",

language = "English",

isbn = "0-08-044295-1",

editor = "E.F. Camacho and L. Basanez",

booktitle = "Proceedings of the 15th IFAC world congress : 21-26 July 2002, Barcelona, Spain",

publisher = "Pergamon",

note = "15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress), IFAC 2002 ; Conference date: 21-07-2002 Through 26-07-2002",

}

Jager, de, AG, Masic, M & Skelton, RE 2003, Optimal topology and geometry for controllable tensegrity systems. in EF Camacho & L Basanez (eds), Proceedings of the 15th IFAC world congress : 21-26 July 2002, Barcelona, Spain ., 2731, Pergamon, Oxford, 15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress), Barcelona, Spain, 21/07/02.

TY - GEN

T1 - Optimal topology and geometry for controllable tensegrity systems

AU - Jager, de, A.G.

AU - Masic, M.

AU - Skelton, R.E.

N1 - Conference code: 15

PY - 2003

Y1 - 2003

N2 - This paper demonstrates a procedure to design an optimal mass to stiffness ratio tensegrity structure. Starting from an initial layout of the structure that defines an allowed set of element connections, the procedure defines positions of the nodal points of the structure, volumes of the elements and their rest lengths yielding a tensegrity structure having smaller compliance for a given load applied then an initial design. To satisfy design requirements strength constraint for all the elements of the structure, buckling constraint for bar elements as well as constraint on geometry of the structure are imposed yielding a nonconvex nonlinear constrained optimization problem. Structural static response is computed using complete nonlinear large displacement model. Examples showing optimal layout of a 2D and 3D structure are shown.

AB - This paper demonstrates a procedure to design an optimal mass to stiffness ratio tensegrity structure. Starting from an initial layout of the structure that defines an allowed set of element connections, the procedure defines positions of the nodal points of the structure, volumes of the elements and their rest lengths yielding a tensegrity structure having smaller compliance for a given load applied then an initial design. To satisfy design requirements strength constraint for all the elements of the structure, buckling constraint for bar elements as well as constraint on geometry of the structure are imposed yielding a nonconvex nonlinear constrained optimization problem. Structural static response is computed using complete nonlinear large displacement model. Examples showing optimal layout of a 2D and 3D structure are shown.

M3 - Conference contribution

SN - 0-08-044295-1

BT - Proceedings of the 15th IFAC world congress : 21-26 July 2002, Barcelona, Spain

A2 - Camacho, E.F.

A2 - Basanez, L.

PB - Pergamon

CY - Oxford

T2 - 15th World Congress of the International Federation of Automatic Control (IFAC 2002 World Congress)

Y2 - 21 July 2002 through 26 July 2002

ER -

Optimal topology and geometry for controllable tensegrity systems

Abstract

Conference

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