Design and control of a prototype structure that adapts to loading through large shape changes

This paper reports on experimental testing that was carried out on a prototype adaptive structure designed to counteract the effect of loading through controlled large shape changes. The prototype is 6.6 m truss equipped with 12 linear actuators which has been designed through a method that combines geometry optimization and non-linear shape control. The structure is designed to adapt into target shapes that are optimal under each load case. Shape adaptation is achieved through controlled length changes of linear actuators that strategically replace some of the structure elements. The actuator placement is optimized to control the structure into the required target shapes. This way, material utilization is maximized and thus material energy embodied is reduced. Experimental testing is carried out to verify numerical findings and investigate the feasibility of the design method. The applied load is inferred through a classification model based on supervised learning. A control algorithm based on a linear-sequential form of geometry optimization is proposed. Experimental results show that this method successfully allows for real-time shape adaptation to achieve stress homogenization under various loading conditions. Copyright (C) 2020 The Authors.