Statically Balanced Tensegrity Mechanisms By Schenk

Theory and Design of Statically Balanced Tensegrity Mechanisms Graduation Colloquium Mark Schenk Department of BioMechanical Engineering Faculty of Mechanical, Maritime and Materials Engineering Exam Committee prof. dr. ir. Peter Wieringa dr. ir. Just Herder dr. Simon Guest dr. ir. Arend Schwab

Contents ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],statically balanced tensegrity mechanisms

Tensegrity Structures – introduction & examples – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Needle Tower II , 1969 Kröller-Müller Museum

Tensegrity Structures – engineering applications – ,[object Object],[object Object],[object Object],[object Object],[object Object]

Static Balancing – introduction & applications – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Static Balancing – zero-free-length springs – ,[object Object],[object Object],normal pretensioned zero-free-length

Static Balancing – design methodology & limitations – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Statically Balanced Tensegrity Mechanisms – a combination of two fields – ,[object Object],= zero stiffness tensegrity structures = statically balanced tensegrity mechanisms Previous examples: (Herder, 2001)

Statically Balanced Tensegrity Mechanisms – applications & relevance – ,[object Object],[object Object],[object Object],[object Object],[object Object]

Graduation project – title & objective – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Graduation project – research approach – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],combination

Stiffness of Structures – tangent stiffness matrix – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Tangent Stiffness Matrix - zero stiffness - ,[object Object],[object Object],[object Object],[object Object]

Zero Stiffness Tensegrity – conventional structures – ,[object Object],[object Object],[object Object],P δ L/2 L/2

Zero Stiffness Tensegrity – structures with zero-free-length springs – ,[object Object],[object Object],[object Object]

Zero Stiffness Tensegrity - example structure - top side

Zero Stiffness Tensegrity – length-preserving affine & conic – ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Zero Stiffness Babytoy ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Prototype Structure - description - ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Prototype Structure - final model - ,[object Object]

Conclusions ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Previous examples: (Herder, 2001) 0 @ ® ¯ ° ± ² µ ^ K b l a b l i e b 1 A

Statically Balanced Tensegrity Mechanisms By Schenk

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Statically Balanced Tensegrity Mechanisms By Schenk