Concept
Tenségrité (architecture)
Publications associées (32)
Constrained Form-Finding of Tension-Compression Structures using Automatic Differentiation
Stefana Parascho, Pierluigi D'Acunto
This paper proposes a computational approach to form-find pin-jointed bar structures subjected to combinations of tension and compression forces. The generated equilibrium states can meet structural and geometrical constraints via gradient-based optimizati ...
ELSEVIER SCI LTD2023Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots
Dario Floreano, Hoang Vu Phan, Yi Sun, Krishna Manaswi Digumarti, Omar Aloui
Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Ou ...
IEEE2022Minimal mass design of active tensegrity structures
Tensegrity structures have been widely utilized as lightweight structures due to their high stiffness-to-mass and strength-to-mass ratios. Minimal mass design of tensegrity structures subject to external loads and specific constraints (e.g., member yieldin ...
ELSEVIER SCI LTD2021Form-finding of tensegrity structures via rank minimization of force density matrix
This study proposes a general computational framework for the form-finding of tensegrity structures. The procedure is divided into two stages in which the member force densities and nodal coordinates are obtained respectively. In the first stage, the deter ...
ELSEVIER SCI LTD2021Design of adaptive structures through energy minimization: extension to tensegrity
This paper gives a new formulation to design adaptive structures through total energy optimization (TEO). This methodology enables the design of truss as well as tensegrity configurations that are equipped with linear actuators to counteract the effect of ...
2021Variable-stiffness tensegrity spine
Dario Floreano, Davide Zappetti, Enrico Ajanic, Roc Arandes Vilagrasa
Vertebrates, including amphibians, reptiles, birds, and mammals, with their ability to change the stiffness of the spine to increase load-bearing capability or flexibility, have inspired roboticists to develop artificial variable-stiffness spines. However, ...
2020Topology-Finding of Tensegrity Structures Considering Global Stability Condition
This study proposes a general framework for topology-finding or topology optimization of tensegrity structures. The existing topology-finding formulation of tensegrity structures based on mixed-integer linear programming (MILP) was improved and transformed ...
ASCE-AMER SOC CIVIL ENGINEERS2020Research on a New Class of Planar Tensegrity Trusses Consisting of Repetitive Units
Tensegrity structure is a prestressed self-equilibrated system consisting of compressed struts and tensioned cables. Planar truss is one of the most common forms of engineering structures with a wide application. This paper proposes a new class of planar t ...
2020Bio-Inspired Tensegrity Fish Robot
Dario Floreano, Jun Shintake, Davide Zappetti, Timothée John Martin Peter, Yusuke Ikemoto
This paper presents a method to create fish-like robots with tensegrity systems and describes a prototype modeled on the body shape of the rainbow trout with a length of 400 mm and a mass of 102 g that is driven by a waterproof servomotor. The structure of ...
2020Phase Changing Materials-Based Variable-Stiffness Tensegrity Structures
Dario Floreano, Jun Shintake, Davide Zappetti
Soft robots leverage deformable bodies to achieve different types of locomotion, improve transportability, and safely navigate cluttered environments. In this context, variable-stiffness structures provide soft robots with additional properties, such as th ...
2019