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DYNAMICS OF TENSEGRITY ROBOTS WITH NEGATIVE STIFFNESS ELEMENTS

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dc.contributor.author Zhakatayev, Altay
dc.contributor.author Abdikadirova, Banu
dc.contributor.author Sarmonov, Shamil
dc.contributor.author Varol, Huseyin Atakan
dc.date.accessioned 2021-02-23T03:38:02Z
dc.date.available 2021-02-23T03:38:02Z
dc.date.issued 2020-09-15
dc.identifier.citation Zhakatayev, A., Abdikadirova, B., Sarmonov, S., & Varol, H. A. (2020). Dynamics of Tensegrity Robots With Negative Stiffness Elements. IEEE Access, 8, 187114–187125. https://doi.org/10.1109/access.2020.3031279 en_US
dc.identifier.issn 2169-3536
dc.identifier.uri https://doi.org/10.1109/ACCESS.2020.3031279
dc.identifier.uri https://ieeexplore.ieee.org/document/9225120
dc.identifier.uri http://nur.nu.edu.kz/handle/123456789/5331
dc.description.abstract Tensegrity structures have unique features such as low mass to payload ratio, strength, and robustness. Therefore, they present great potential in robotics, aerospace, and civil engineering. The dynamics of tensegrity robots is highly nonlinear and constrained. As a result, their modeling, simulation, state estimation, and control are non-trivial. Strings in tensegrity structures are usually modeled as linear springs. Utilization of nonlinear elastic/damping elements in tensegrities would further enrich their dynamics and endow them with additional properties, such as multiple equilibrium configurations. In this paper, our preliminary work on the dynamics of actuated tensegrities with strings containing nonlinear elastic and/or damping elements is presented. At first, the formulation of tensegrity dynamics with general nonlinear elastic/damping elements is explored. Later dynamics of tensegrities with negative stiffness honeycombs incorporated into strings are considered. Simulations are performed on three tensegrity systems: two-bar, three-bar, and six-bar structures. Results demonstrate that negative stiffness honeycombs result in nonlinear steady-state response to constant external force, reduced force magnitudes in strings and bars, and increased range of motion. en_US
dc.language.iso en en_US
dc.publisher Institute of Electrical and Electronics Engineers en_US
dc.relation.ispartofseries IEEE Access;8, 187114–187125
dc.rights Attribution-NonCommercial-ShareAlike 3.0 United States *
dc.rights.uri http://creativecommons.org/licenses/by-nc-sa/3.0/us/ *
dc.subject Negative stiffness beam en_US
dc.subject nonlinear stiffness element en_US
dc.subject nonlinear damping element en_US
dc.subject tensegrity en_US
dc.subject tensegrity dynamics with negative stiffness honeycomb en_US
dc.subject Research Subject Categories::TECHNOLOGY en_US
dc.title DYNAMICS OF TENSEGRITY ROBOTS WITH NEGATIVE STIFFNESS ELEMENTS en_US
dc.type Article en_US
workflow.import.source science


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