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2025 | Buch

Kapitel lesen Erstes Kapitel lesen

Tensegrity Systems

Basic Concepts, Mechanical Metamaterials, Biotensegrity

herausgegeben von: Fernando Fraternali, Julian J. Rimoli

Verlag: Springer Nature Switzerland

Buchreihe : CISM International Centre for Mechanical Sciences

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

Inhaltsverzeichnis
insite
SUCHEN

Über dieses Buch

This book illustrates the unique mechanical behaviors of tensegrity systems and their applications in mechanical metamaterials, space structures, and biomechanical models. It demonstrates that by controlling the mechanical response of tensegrity structures through internal and external prestress, it is possible to adjust the speed of mechanical waves within these systems, creating tunable bandgap structures. Furthermore, the geometrically nonlinear response exhibited by several tensegrity systems allows for the support of either compression or rarefaction solitary wave dynamics. These behaviors can be effectively utilized to design novel devices capable of focusing mechanical waves in narrow regions of space, as well as innovative impact protection systems.

After an introduction to the basic concepts and calculation methods for tensegrity systems and their minimal-mass design, the chapters explore the metamaterial behaviors of tensegrity systems associated with bandgap and solitary wave dynamics; present a mechanical model of flexible tensegrities, illustrating how harnessing the buckling of bars in such systems can result in structures with exceptional energy absorption capabilities, suitable for applications such as planetary landers or lattice metamaterials; and discuss the extreme mechanical behaviors achievable in tensegrity-inspired lattice structures exhibiting both soft and stiff deformation modes. The last chapters address the multifaceted field of biotensegrity, and provide an overview of current rapid prototyping techniques for tensegrity systems, along with a discussion of open questions and research opportunities in the field.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Basic Tensegrity Concepts and Calculation Methods
Abstract
In this chapter, the fundamental notions about tensegrity systems are presented, together with the basic calculation methods. After giving a general introduction to the main tensegrity concepts, we dive into the analytical treatment of the statics and dynamics of tensegrity systems. In particular, we introduce the equilibrium and kinematic-compatibility equations and describe the four structural types to which tensegrity systems may belong, characterized by the presence or absence of selfstress states and internal mechanisms. We then pass to quasistatic processes and give the notions of prestress stability and superstability, which depend on the properties of the geometric stiffness and tangent stiffness operators. Notable examples are then reviewed to illustrate the nonlinear behavior of tensegrity systems. Dynamic processes are described next by deriving the motion equation, both for nonlinear large-displacement processes and, in its linearized form, for small-amplitude motions about a certain equilibrium configuration. The last part of the chapter introduces form-finding methods, and presents in details three of them with simple implementation: an analytical method for symmetric systems, the virtual cocoon method, and a marching algorithm to change the shape of a tensegrity system by controlling edge lengths. The latter method is then applied to the case study of a deployable ring for space antennas.
Andrea Micheletti
Chapter 2. Minimal Mass Design of Tensegrity Systems
Abstract
This Chapter illustrates a procedure for the minimal mass design of tensegrity systems under yielding and buckling constraints. An optimization method based on an iterative linear programming algorithm is employed, drawing from the multi-faceted studies conducted by Robert Skelton and co-workers in the relevant research domain. Minimal mass designs for simply-supported and cantilever beams with tensegrity architecture are shown to exhibit a significantly lower mass, as compared to design procedures based on conventional structural shapes. Newly designed, spider-shaped tensegrity systems are examined for the case of a simply-supported beam, while a cantilever beam example employs the well-known Michell truss topology.
Fernando Fraternali, Gerardo Carpentieri
Chapter 3. Bandgap Wave Dynamics of Tensegrity Lattices
Abstract
This Chapter studies the wave dynamics of systems obtained by combining lumped masses with tensegrity units to form one-dimensional mechanical metamaterials. The analyzed tensegrity units behave as elastic springs with mechanical response that can be finely adjusted by applying an initial state of self-stress to the system. One-dimensional chains of tensegrity prisms are shown to exhibit a tunable, frequency bandgap response under small amplitude compression loading in the dynamic regime. Both monoatomic and diatomic mass-spring models are studied, by examining various arrangements of two types of tensegrity prisms and lumped masses. The continuum limits of the analyzed discrete models are also derived, with reference to the small wave number regime, and challenging engineering applications of bandgap metamaterials with tensegrity architecture are discussed.
Fernando Fraternali, Julia de Castro Motta, Luca Placidi
Chapter 4. Propagation of Solitary Waves in Geometrically Nonlinear Tensegrity Lattices
Abstract
The propagation of compression and rarefaction solitary waves in tensegrity mass-spring chains under impact loading is analyzed using analytical methods. The Weierstrass criterion is applied to detect solitary wave solutions in the continuum limit of the examined system. The study utilizes an interaction potential that preserves the fundamental characteristics observed in minimal and \(\theta =1\) tensegrity prisms under compression loading. The Chapter includes a review of literature results on the propagation of solitary waves in 1D, 2D, and 3D tensegrity lattices. The analyzed wave regime offers potential applications for designing novel acoustic lenses with tunable focus, innovative actuators and sensors for nondestructive structural health monitoring, and impact protection devices.
Fernando Fraternali, Julia de Castro Motta, Ada Amendola
Chapter 5. Flexible Tensegrity Structures: From Space Applications to 3D Tensegrity Metamaterials
Abstract
The concept of flexible tensegrity is discussed in this chapter. Flexible tensegrity structures extend the classical definition of tensegrity to allow the bending and buckling of compression members, resulting in large deformations of these members and off-axial forces. These effects need to be accounted for for highly dynamic applications and large deformations of some tensegrity structures with slender bars. A reduced order model of the bars that accounts for these effects is therefore presented. This model is based on a spring-mass system and allows to capture the elastic buckling behavior of bars in compression accurately and efficiently. Because of its reduced number of degrees of freedom, this model is particularly adapted for large-scale or fast simulations of tensegrity structures, in both dynamic and quasi-static settings. We also discuss the advantage of accounting for the elastic buckling of the bars in the design of tensegrity structures, as a mean to increase their capacity to transfer kinetic energy to elastic energy without structural failure. Some possible applications of flexible tensegrity structures are discussed, including a planetary lander and a 3D tensegrity metamaterial. Both are based on a truncated octahedron tensegrity cell, which has the remarkable property of remaining stable under large deformations despite the buckling of its bars.
Julian J. Rimoli, Kévin Garanger, Franco Ruffini
Chapter 6. Tensegrity Lattices with Extremal Mechanical Properties
Abstract
This chapter discusses extremal mechanical behavior of tensegrity-inspired metamaterials and structures. It focuses on the identification of extremal properties of modular lattices based on basic tensegrity cells. First, two approaches to the analysis of tensegrity lattices in various scales are described: discrete and continuum, with a special attention paid to the effect of scale when applying the concept of extremal materials to bigger structural systems. Then, two examples of tensegrity lattices are analyzed: a 2D lattice based on hexagonal modules and a 3D lattice based on expanded octahedron. Parameters leading to soft and stiff deformation modes are determined and equivalent mechanical properties, such as Young’s and shear moduli and Poisson’s ratios, are calculated.
Anna Al Sabouni-Zawadzka
Chapter 7. Biotensegrity: Concept, Principles and Applications
Abstract
Biotensegrity models living systems in ways that were inconceivable in the past but has taken some time to become widely accepted because of its challenges to generally accepted wisdom. Orthodox biomechanics has its origins in mechanistic models from the seventeenth century and allowed over-simplified representations of anatomy and motion to persist to the present day, with the approximations and assumptions inherent within its methods routinely overlooked. In contrast, a biotensegrity perspective recognizes that the human body is NOT a machine but a complex heterarchical structure of intertwined relationships that result from a fundamental set of self-organizing principles. Here, the closed-chain kinematics of tensegrity provide a unified mechanical system that extends from molecules to the complete organism and represents a paradigm shift in thinking. A new classification of biomechanical models that includes super-stable tensegrity and has relevance to mechanical engineering in general is then introduced.
Graham Scarr
Chapter 8. Shape Control for Biotensegrities
Abstract
Biotensegrity, which integrates tensegrity principles with biological structures, describes how living organisms efficiently distribute mechanical forces to accommodate stresses. This chapter provides an overview of biotensegrity in anatomy and physiology, spanning from the macro to the micro level of a living organism. The chapter details the development of a biotensegrity model that replicates the tapered vertebral bodies and natural curvature of the human spine. A form-finding method for generating an n-stage three-strut spine model using static equilibrium equations is presented. Shape change strategies are explored using Sequential Quadratic Programming (SQP), enabling identified monitored nodes to move from their initial positions to target coordinates by adjusting cable lengths. Additionally, an obstacle avoidance strategy based on the Potential Method facilitates flexible motion, allowing the model to reach target positions while navigating around obstacles. Comparative results highlight the influence of obstacle avoidance considerations. The chapter concludes with insights into future research directions, emphasizing biotensegrity’s potential applications in biomechanics, robotics, and structural design.
Chai Lian Oh, Kok Keong Choong, Toku Nishimura
Chapter 9. On the Additive Manufacturing of Tensegrity Systems
Abstract
This Chapter presents a range of additive manufacturing techniques available for the rapid prototyping of tensegrity systems at various scales. It discusses the opportunities and challenges of these techniques, with the primary challenges arising from difficulties in manufacturing perfectly hinged connections and applying internal prestress. The Chapter concludes by summarizing the key findings from current research on the additive manufacturing of tensegrity systems and highlighting promising directions for future research in this area.
Anna Al Sabouni-Zawadzka, Adam Zawadzki, Rana Nazifi Charandabi, Ada Amendola, Howon Lee, Fernando Fraternali
Metadaten
Titel
Tensegrity Systems
herausgegeben von
Fernando Fraternali
Julian J. Rimoli
Copyright-Jahr
2025
Electronic ISBN
978-3-031-82283-4
Print ISBN
978-3-031-82282-7
DOI
https://doi.org/10.1007/978-3-031-82283-4

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