Multi-Mode Motion System Based on a Multistable Tensegrity Structure

  • P. SchorrEmail author
  • V. Böhm
  • G. Stépán
  • L. Zentner
  • K. Zimmermann
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a multi-mode motion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. The motion system is in contact to an arbitrarily shaped rigid ground due to gravity. The movement is realized by changing successively between different equilibrium states. Depending on the strategy of changing the equilibrium configuration, different motion types occur. The reachable area of the motion system can be enlarged by adapting the motion type depending on the given environmental characteristics. Furthermore, the efficiency of the motion can be improved by choosing the most suitable motion mode. Theoretical studies regarding the change of the equilibrium states are introduced. Moreover, simulation results for the different motion modes tilting, vibration driven and jumping are illustrated. The resulting motion characteristics emphasize the advantageous adaptability of the motion system regarding to varying environmental conditions.


multimodal motion tensegrity bifurcation analysis 


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This work is supported by the Deutsche Forschungsgemeinschaft (DFG project BO4114/2-2).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • P. Schorr
    • 1
    • 2
    Email author
  • V. Böhm
    • 2
  • G. Stépán
    • 3
  • L. Zentner
    • 1
  • K. Zimmermann
    • 1
  1. 1.Ilmenau University of TechnologyIlmenauGermany
  2. 2.Ostbayerische Technische Hochschule RegensburgRegenburgGermany
  3. 3.Budapest University of Technology and EconomicsBudapestHungary

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