DocumentCode :
550807
Title :
Energy optimization of deployable tensegrity structure
Author :
Li Qiang ; Skelton, R.E. ; Yan Jie
Author_Institution :
Northwestern Polytech. Univ., Xi´an, China
fYear :
2011
fDate :
22-24 July 2011
Firstpage :
2146
Lastpage :
2151
Abstract :
This paper presents a numerical method to design a tensegrity structure which can deploy itself to a desired shape and cost the minimal energy. Starting from the dynamic model in matrix the static model in vector form which is easy to solve the force density is deduced. The self-deploy control problem is described as a math model by using this new vector model and the condition whether there exists a solution is given out. Projection algorithm is adopted to get the optimal solution. The optimization method investigated is applied to two examples and simulation results demonstrate that the theory works well.
Keywords :
matrix algebra; optimisation; structural engineering; deployable tensegrity structure; desired shape; dynamic model; energy optimization; force density; math model; matrix; numerical method; projection algorithm; self-deploy control problem; static model; vector model; Bars; Dynamics; Force; Mathematical model; Optimization; Shape; Vectors; Constrained Optimization; Deployable Control; Minimal Energy; Tensegrity;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
ISSN :
1934-1768
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
Type :
conf
Filename :
6001147
Link To Document :
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