Generalized Dynamics of Stacked Tensegrity Manipulators

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dc.contributor.authorFadeyev, Denis
dc.contributor.authorZhakatayev, Altay
dc.contributor.authorKuzdeuov, Aksat
dc.contributor.authorVarol, Huseyin Atakan
dc.date.accessioned2019-12-12T04:07:28Z
dc.date.available2019-12-12T04:07:28Z
dc.date.issued2019-05-14
dc.descriptionhttps://ieeexplore.ieee.org/document/8713969en_US
dc.description.abstractTensegrity structures emerged initially as an art form, have recently gained substantial interest among engineering researchers. The distinctive attribute of these structures is using pretensioned tensile elements connected to rigid bars to establish an equilibrium of the whole structure. Thanks to these elements, tensegrity structures are lightweight and yet robust. The main challenge impeding their widespread use is the intricate constrained nonlinear dynamics caused by the tensegrity topology. In this paper, we extend the dynamics of tensegrities by adding damping forces and incorporating forces along the connected strings passing through several nodes. As an experimental platform, a two-stage stacked tensegrity manipulator was constructed. The system was actuated using six actuators and the kinematic information of the system was acquired by measuring the node coordinates using optical motion capture. Afterward, we compared the structure behavior to the simulated one using our dynamics formulation. The results of these experiments show that our dynamics formulation is capable of representing the rich nonlinear dynamics of stacked tensegrity manipulators effectively.en_US
dc.identifier.citationFadeyev, D., Zhakatayev, A., Kuzdeuov, A., & Varol, H. A. (2019). Generalized Dynamics of Stacked Tensegrity Manipulators. IEEE Access, 7, 63472–63484. https://doi.org/10.1109/access.2019.2916681en_US
dc.identifier.issnVarol,
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/4406
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectMathematical modelen_US
dc.subjectdynamicsen_US
dc.subjectBarsen_US
dc.subjectActuatorsen_US
dc.subjectManipulator dynamicsen_US
dc.subjectNonlinear dynamical systemsen_US
dc.subjectconnected stringsen_US
dc.subjecttwo-stage stacked tensegrity manipulatoren_US
dc.subjecttensegrity topologyen_US
dc.titleGeneralized Dynamics of Stacked Tensegrity Manipulatorsen_US
dc.typeArticleen_US
workflow.import.sourcescience

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