Selection of prestress for optimal dynamic/control performance of tensegrity structures

被引：28
|
作者：
Masic, M [1 ]
Skelton, RE [1 ]
机构：
[1] Univ Calif San Diego, Dept Mech & Aerosp Engn, La Jolla, CA 92093 USA
来源：
INTERNATIONAL JOURNAL OF SOLIDS AND STRUCTURES | 2006年 / 43卷 / 7-8期
关键词：
tensegrity; control; optimization; prestress;
D O I：
10.1016/j.ijsolstr.2005.06.066
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
This paper concerns prestress optimization of a tensegrity structure for its optimal LQR performance. A linearized dynamic model of the structure is derived in which the force-density variables that parameterize the prestress of the structure appear linearly. A feasible region for these parameters is defined in terms of the extreme directions of the prestress cone. A numerical method for computing this basis for a structure prestress cone is proposed. The problem is solved using a gradient method that provides a monotonic decrease of the objective function inside the feasible region. A numerical example of a cantilevered planar tensegrity beam is shown. (c) 2005 Elsevier Ltd. All rights reserved.
引用
收藏
页码：2110 / 2125
页数：16
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