A kinematic analysis of a stacked planar compliant tensegrity mechanism

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dc.contributor Mulani, Sameer
dc.contributor Williams, Keith
dc.contributor.advisor Vikas, Vishesh
dc.contributor.author Tanouye, Miranda
dc.date.accessioned 2020-01-16T15:03:42Z
dc.date.available 2020-01-16T15:03:42Z
dc.date.issued 2019
dc.identifier.other u0015_0000001_0003417
dc.identifier.other Tanouye_alatus_0004M_13941
dc.identifier.uri http://ir.ua.edu/handle/123456789/6474
dc.description Electronic Thesis or Dissertation
dc.description.abstract tensile members (strings). Compliant tensegrity mechanisms (CoTM) introduce springs alongside strings and rods, allowing these structures to be more adaptable and robust. The kinematic and stability analyses of such mechanisms will facilitate better behavioral understanding for control of such structures. Such structures are known to display nonlinear behaviors including multiple equilibria. Previously, a simple planar model of such a CoTM has been studied. This can be furthered upon by viewing the mechanism as a single link within a kinematic chain. However, a nomenclature methodology for kinematic chain of CoTM modules is lacking. The equilibrium analysis of CoTM is non-trivial as the equilibrium equations are nonlinear in variables (angles occuring as sine and cosine). Mathematically, for a small number of equations, the solutions can be obtained using polynomial elimination methods. The computational complexity increases exponentially with the number of equations along with the number of equilibrium solutions. The presented work analyzes single module and chain of planar CoTM comprising of two rigid bodies connected by a rigid link and two springs through revolute joints. The computational complexity of a planar CoTM link increases drastically as the zero free-length (ZFL) constraint of the springs in relaxed. Stability of the solutions is evaluated by observing the eigenvalues of the Jacobian of the equilibrium equations. After analyzing the system for one link, a two-link chain system is analyzed. Analysis is done based on knowledge gained from analyzing a single link and solving for all solutions of the mechanism and then determining stability of the found equilibrium solutions.
dc.format.extent 67 p.
dc.format.medium electronic
dc.format.mimetype application/pdf
dc.language English
dc.language.iso en_US
dc.publisher University of Alabama Libraries
dc.relation.ispartof The University of Alabama Electronic Theses and Dissertations
dc.relation.ispartof The University of Alabama Libraries Digital Collections
dc.relation.hasversion born digital
dc.rights All rights reserved by the author unless otherwise indicated.
dc.subject.other Mechanics
dc.title A kinematic analysis of a stacked planar compliant tensegrity mechanism
dc.type thesis
dc.type text
etdms.degree.department University of Alabama. Department of Mechanical Engineering
etdms.degree.discipline Mechanical Engineering
etdms.degree.grantor The University of Alabama
etdms.degree.level master's
etdms.degree.name M.S.

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