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  • © 2009

Tensegrity Systems

  • Addresses the design of tensegrity structures using analytical tools

  • Discusses and integrates four major topics in a combined framework: structural design; control design; sensor/actuator placement; and sensor/actuator selection

  • Discusses the rules for filling space (tesselation) with self-similar structures that guarantee a specific mechanical property (minimal mass subject to a specific strength and stiffness constraint)

  • Discusses the applications of tensegrity systems: in Deployable solar arrays, large mirrors and antennas, wings without hinges, robotic systems without joints and string lightweight columns, walls, bridges, and buildings

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Table of contents (6 chapters)

  1. Front Matter

    Pages i-xii
  2. Introduction and Motivation

    • Robert E. Skelton, Mauricio C. de Oliveira
    Pages 1-44
  3. Analysis of Static Tensegrity Structures

    • Robert E. Skelton, Mauricio C. de Oliveira
    Pages 45-72
  4. Design of Compressive Structures

    • Robert E. Skelton, Mauricio C. de Oliveira
    Pages 73-128
  5. Design of Bending Structures

    • Robert E. Skelton, Mauricio C. de Oliveira
    Pages 129-155
  6. Analysis of Tensegrity Dynamics

    • Robert E. Skelton, Mauricio C. de Oliveira
    Pages 157-178
  7. Closed-Loop Control of Tensegrity Structures

    • Robert E. Skelton, Mauricio C. de Oliveira
    Pages 179-198
  8. Back Matter

    Pages 1-18

About this book

Tensegrity Systems discusses analytical tools to design energy efficient and lightweight structures employing the concept of “tensegrity.” This word is Buckminister Fuller's contraction of the words “Tensile” and “Integrity,” which suggests that integrity or, as we would say, stability of the structure comes from tension. In a tensegrity structure the rigid bodies (the bars) might not have any contact, thus providing extraordinary freedom to control shape, by controlling only tendons. This book will provide both static and dynamic analysis of special tensegrity structural concepts, which are motivated by biological material architecture. This will be the first book written to attempt to integrate structure and control design. All other books on structure design and books on control design assume these are independent topics, but performance can be greatly improved if the dynamics of the structure and the dynamics of the controls are coordinated to reduce the control efforts required to accomplish the system performance requirements.

Keywords

  • Stab
  • Tensegrity
  • analytical tools
  • control design
  • dynamic analysis
  • energy efficient
  • linear controllers
  • stability
  • static analysis
  • structural concepts
  • structure
  • structure design
  • system performance
  • tensegrity structure

Bibliographic Information

Buy it now

Buying options

eBook USD 149.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 199.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book USD 199.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access