Synthesis and Analysis of Tensegrity Mechanisms

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dc.contributor Mulani, Sameer B.
dc.contributor Williams, Keith
dc.contributor.advisor Vikas, Vishesh Gotberg, Clayton Russell 2022-02-04T20:16:49Z 2022-02-04T20:16:49Z 2021
dc.identifier.other u0015_0000001_0004044
dc.identifier.other Gotberg_alatus_0004M_14696
dc.description Electronic Thesis or Dissertation
dc.description.abstract Tensegrity systems combine antagonistic tensile and compressive members. The computational cost of synthesis and form-finding greatly increases with the complexity of a tensegrity structure. One solution, the use of modules which can be combined to create a more complex structure (tensegrity primitives), has been investigated using highly symmetric primitives of a few canonical types. This thesis determines the multistable region of an example planar tensegrity-adjacent mechanism, measures the feasibility of various parameters for shape control and demonstrates a method for stacking any number of such mechanisms, then develops a search method which exhaustively determines all possible tensegrities with a specified cable graph and with varying additional constraints. To demonstrate the viability of these methods, full catalogues of tensegrity primitives for a host of simple cable graphs are generated.
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.ispartof Supplementary materials include .mat files containing the set of shape descriptions and the set of results referenced in thesis, and a .mlapp script that was the visualizer for data in previous files. 1
dc.relation.hasversion born digital
dc.rights All rights reserved by the author unless otherwise indicated.
dc.subject.other Stacking
dc.subject.other Tensegrity
dc.subject.other Tensegrity primitives
dc.title Synthesis and Analysis of Tensegrity Mechanisms
dc.type thesis
dc.type text University of Alabama. Department of Mechanical Engineering Mechanics The University of Alabama master’s M.S.

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