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Reconfiguration of planar quadrilateral linkages utilizing the tensegrity principle
Mechanism and Machine Theory ( IF 5.2 ) Pub Date : 2021-02-01 , DOI: 10.1016/j.mechmachtheory.2020.104172
Philipp Schorr , Jhohan Chavez , Lena Zentner , Valter Böhm

Abstract The development of reconfigurable planar four-bar linkages by applying the tensegrity principle is considered. Conventional quadrilateral linkages enable two operation modes differing in the kinematic behavior. However, a change between these states is not possible due to the geometric constraints. To enable a reconfiguration between the different modes one-sided limited nonholonomic constraints are introduced in this work. This issue is realized by applying ropes that cannot resist compression. However, to guarantee an appropriate load case in operation a prestress within the mechanism is required. Hence, the linkage is extended to a tensegrity-based mechanism. The structural dynamics are derived using the Lagrange formalism and the structural behavior is evaluated using numerical simulations. Furthermore, a prototype of an exemplary tensegrity-based mechanism is manufactured and experiments regarding the mechanical properties, in particular the reconfiguration, are performed. The results suggest the potential benefit of applying the tensegrity principle within conventional planar four-bar linkages.

中文翻译:

利用张拉整体原理重新配置平面四边形连杆

摘要 考虑了应用张拉整体原理开发可重构平面四连杆机构。传统的四边形连杆能够实现两种运动学行为不同的操作模式。然而,由于几何限制,这些状态之间的变化是不可能的。为了实现不同模式之间的重新配置,在这项工作中引入了单边有限的非完整约束。这个问题是通过应用无法抗压的绳索来实现的。然而,为了保证运行中的适当负载情况,需要在机构内施加预应力。因此,链接扩展到基于张拉整体的机制。使用拉格朗日形式主义推导出结构动力学,并使用数值模拟评估结构行为。此外,制造了一个示例性的基于张拉整体的机构的原型,并进行了关于机械特性的实验,特别是重新配置。结果表明,在传统的平面四连杆机构中应用张拉整体原理具有潜在的好处。
更新日期:2021-02-01
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