Synthesis and Analysis of Tensegrity Mechanisms

Gotberg, Clayton Russell

Synthesis and Analysis of Tensegrity Mechanisms

dc.contributor	Mulani, Sameer B.
dc.contributor	Williams, Keith
dc.contributor.advisor	Vikas, Vishesh
dc.contributor.author	Gotberg, Clayton Russell
dc.contributor.other	University of Alabama Tuscaloosa
dc.date.accessioned	2022-02-04T20:16:49Z
dc.date.available	2022-02-04T20:16:49Z
dc.date.issued	2021
dc.description	Electronic Thesis or Dissertation	en_US
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.	en_US
dc.format.medium	electronic
dc.format.mimetype	application/pdf
dc.identifier.other	http://purl.lib.ua.edu/181754
dc.identifier.other	u0015_0000001_0004044
dc.identifier.other	Gotberg_alatus_0004M_14696
dc.identifier.uri	http://ir.ua.edu/handle/123456789/8319
dc.language	English
dc.language.iso	en_US
dc.publisher	University of Alabama Libraries
dc.relation.hasversion	born digital
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.
dc.relation.ispartof	The University of Alabama Electronic Theses and Dissertations
dc.relation.ispartof	The University of Alabama Libraries Digital Collections
dc.rights	All rights reserved by the author unless otherwise indicated.	en_US
dc.subject	Stacking
dc.subject	Tensegrity
dc.subject	Tensegrity primitives
dc.title	Synthesis and Analysis of Tensegrity Mechanisms	en_US
dc.type	thesis
dc.type	text
etdms.degree.department	University of Alabama. Department of Mechanical Engineering
etdms.degree.discipline	Mechanics
etdms.degree.grantor	The University of Alabama
etdms.degree.level	master's
etdms.degree.name	M.S.