New actuation planning method for the analysis and design of active tensegrity structures

Show simple item record
dc.contributor.authorHrabačka, Martin
dc.contributor.authorBulín, Radek
dc.contributor.authorHajžman, Michal
dc.date.accessioned2023-09-04T10:00:25Z
dc.date.available2023-09-04T10:00:25Z
dc.date.issued2023
dc.description.abstract-translatedThis paper deals with actuation planning and control for active tensegrity structures. Within actuation planning, a specific actuation in the form of adjustments of cables’ rest lengths is assigned to the resulting structure to follow a prescribed complex trajectory. The methodology is based on the desired trajectory discretisation and following consecutive actuation optimisation, which employs the dynamic relaxation method. Since the actuation planning problem is treated as static, a controller is designed to suppress possible structural vibrations. With regard to the need to test dynamical properties and simulate the structure's motion, a methodology for automatic creation of tensegrity computational models in Simscape software is developed in the MATLAB scripting environment. Numerical examples of particular tensegrity structures show the whole algorithm's efficiency.en
dc.format
dc.format17 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationHRABAČKA, M. BULÍN, R. HAJŽMAN, M. New actuation planning method for the analysis and design of active tensegrity structures. ENGINEERING STRUCTURES, 2023, roč. 293, č. OCT 15 2023, s. 1-17. ISSN: 0141-0296cs
dc.identifier.document-number1047402000001
dc.identifier.doi10.1016/j.engstruct.2023.116597
dc.identifier.issn0141-0296
dc.identifier.obd43940120
dc.identifier.uri2-s2.0-85165959253
dc.identifier.urihttp://hdl.handle.net/11025/53908
dc.language.iso
dc.language.isoenen
dc.project.IDGA20-21893S/Mechatronické tensegrity pro energeticky efektivní lehké robotycs
dc.project.IDSGS-2022-008/Matematické modelování a numerické simulace materiálových struktur a mechanických a biomechanický systémůcs
dc.publisherElsevieren
dc.relation.ispartofseriesEngineering Structuresen
dc.rightsPlný text je přístupný v rámci univerzity přihlášeným uživatelůmcs
dc.rights© Elsevieren
dc.rights.accessrestrictedAccessen
dc.subject.translatedactive tensegrity structureen
dc.subject.translatedactuation planningen
dc.subject.translatedcomputational modellingen
dc.subject.translateddynamicsen
dc.subject.translatedform-findingen
dc.subject.translatedpath-followingen
dc.titleNew actuation planning method for the analysis and design of active tensegrity structuresen
dc.typečlánekcs
dc.typearticleen
dc.type.status
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

Files

Original bundle
Showing 1 - 1 out of 1 results
No Thumbnail Available
Name:
1-s2.0-S014102962301012X-main.pdf
Size:
8.6 MB
Format:
Adobe Portable Document Format
Download

Collections

OBD
 Articles (KME)
 Articles (NTIS)