Tensegrity Engineering for Space Systems. Professor Emeritus, UCSD TIAS Faculty Fellow Texas A&M
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1 Tensegrity Engineering for Sae Systems Professor Emeritus, UCSD TIAS Faulty Fello Teas A&M
2 First Motivation: Animal Loomotion Stiks and Strings: Arhiteture of Life
3
4 Overla h % of stage height Why Tensegrity uses less ontrol oer? δ 9 Overla 1% t Vertial strings Control aths on equilibrium surfae α degrees To unique tensegrity aabilities -Change shae ithout hanging stiffness, or -Change stiffness ithout hanging shae Overla % δ degrees
5 Class 1 Tensegrity Dynamis
6 Ative Form-Finding Desired shae Loation of seleted nodes Y unonstrained nodes
7
8 : Stable Paraboli Surfae From Tensegrity Prisms ith no soft modes
9 Integrate Design of Origami/Tensegrity Tensegrity: 3D strutures from 1D objets High strength, high stability, lo mass, deloyable Origami: 3D strutures from 2D objets lo strength, lo stability, foldable M. de Oliveira
10 Double Heli Tensegrity DHT torus ylinder Nik n ik 2 ellisoid q units N2 N22 n ik 1 shere N N2 units ing
11 i k R 1, r. 2 Torus q 3 q 6 q 9 4 8
12 Double Heli Tensegrity DHT: Eterior Vie
13 Primal and Dual DHT Primal DHT: White lines are omressive members Edges are tensile members Dual DHT: White lines are tensile members ables Edges are omressive members
![Mirror no sin NIAC study [Skleton, Longman]: 1 km radius torus sin at 1 rm 1g Water shield](/docs-images/78/76852261/images/14-0.jpg "slo sin Pressurized tensegrity torus fast sin: 1 rm Solar anels no sin Direted Energy")
14 Mirror no sin NIAC study [Skleton, Longman]: 1 km radius torus sin at 1 rm 1g Water shield slo sin Pressurized tensegrity torus fast sin: 1 rm Solar anels no sin Direted Energy Projet!
15 We Need Tools to Pin the Tail on the Performane Limiting Tehnology From first riniles, Universities teah omonent tehnology Design/Mfg Modeling Physis Comuting Signal Proessing Control Sensing
16 Critial Issues in System Design Given a erformane bound e seek to: Min Mass of struture Min Energy for ontrol Enabling tehnologies for MME design: Minimal mass strutures tensegrity MME design Information Arhiteture integrate hoie of sensor/atuator netorks, sensor & omutational reisions, and ontrol or estimation las Deloyment shemes origami/tensegrity Model imrovements from data
17 Information Arhiteture What to measure/atuate/omute? With hat reision? With hat ontrol la? With hat ost? Ho to integrate these hoies? Best atuation netork? Material toology? Best info netork? Atuator Seletion Struture Design Sensor Seletion Control Design ontrol algorithm? Comuter Seletion Comutational reision?
18 Information Arhiteture What to measure/atuate/omute? With hat reision? With hat ontrol la? With hat ost? Best atuation netork? Material toology? Best info netork? Atuator Seletion Struture Design Sensor Seletion Unify these 3 deisions Control Design ontrol algorithm? Comuter Seletion Comutational reision? Information Arhiteture [Skelton 29] jointly otimizes: 1 ontrol la and 2 sensor/atuator netork roves this is a onve roblem if dynamis linear
19 Conlusions the set of ne analytial tools Control theory has been etended to: selet the reision and loation required of all instruments hile satisfying reseified bounds on: Total instrument osts Performane errors Control energy Analytial tools are available to: integrate origami and tensegrity designs of deloyable strutures, ith shae ontrol. Analytial tools are available to: generate all linear models hih an identially math the data a seified number of autoorrelations and ross-orrelations of inut/outut data
20 Information Arhiteture and Control D M z u B C y D u B A z y Plant: Outut: Measurement: Measurement:, τ δ τ τ τ t W W W t t t E E s a T s a s a s a Sensor Atuator a s Plant simulation Controller z u?? Controller G: Find G suh that D z C u z B A onve??
21 Information Arhiteture and Control D M z u B C y D u B A z y Plant: Outut: Measurement: Measurement: Controller G:, τ δ τ τ τ t W W W t t t E E s a T s a s a s a : s a W W W $ 1 : trpw Sensor Atuator a s Plant simulation Controller z u [ ] [ ] Y yy E U E uu T T < < $ < $ Find W and G suh that D z C u z B A???? Conve!
22 Sensor/Atuator Netork Seletion Conve roblem Instrument reisions X After solving onve roblem Observe this ranking Delete smallest reision instrument and reeat onve roblem ith smaller set of Instruments. Sto hen feasibility is lost
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