A Mass-Optimal Spatial Tensegrity Structure to Support a Cantilever Load
Publication: Journal of Aerospace Engineering
Volume 36, Issue 4
Abstract
A spatial, discrete Michell truss to support a cantilever load is proposed in this paper. The node placement scheme is designed to iteratively generate the topology of the joints for the tensegrity structure. A recursive formula for the member forces is derived to compute the minimum volume of material needed to support a cantilever load. An example is provided with comparisons to the planar result special case. This example demonstrates that the benefit of supporting out of plane loads comes at a minor cost of additional mass. Further, a practical realization of the planar special case is compared to the proposed truss to demonstrate improved mass efficiency over conventional trusses.
Practical Applications
Tensegrity structures have been proven to be the optimal mass solution to the canonical loading conditions: bending, simply supported, torsion, compression, and tension. Further, the geometry of tensegrity structures can be efficiently manipulated through member length actuation. This allows for compact storage and subsequent deployment, which is economically attractive for space-based ventures where volume and mass are a precious commodity. The spatial discrete Michell truss in this work enjoys similar deployment capabilities, as the structure can wrap about its circular base when not in use. This work enables a practical realization of an optimal planar tensegrity structure, at the cost of marginal mass increase. This structure can support out of plane cantilever forces, which is not permissible in planar theory.
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Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
The authors wish to acknowledge the Office of Naval Research (Grant No. N00014-19-1-2435) for partially supporting this work. The authors are grateful to Prof. Robert E. Skelton for introducing them to the exciting area of tensegrity structural systems.
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Published In
Journal of Aerospace Engineering
Volume 36 • Issue 4 • July 2023
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Dec 2, 2021
Accepted: Nov 23, 2022
Published online: Mar 24, 2023
Published in print: Jul 1, 2023
Discussion open until: Aug 24, 2023
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