Minimal mass design of active tensegrity structures

•A general method for designing minimal mass active tensegrity structures is proposed.•The design of the structure parameters and actuator parameters are integrated.•The performance of different actuator layout modes on mass-efficiency is investigated.•The method is a unifying framework for designin...

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Veröffentlicht in:	Engineering structures Jg. 234; S. 111965
Hauptverfasser:	Wang, Yafeng, Xu, Xian, Luo, Yaozhi
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Kidlington Elsevier Ltd 01.05.2021 Elsevier BV
Schlagworte:	Active control Active tensegrity structure Actuators Buckling Continuity (mathematics) Control systems Control systems design Cross-sections Design Equilibrium conditions Equivalence Integer programming Internal forces Layouts Lightweight Lightweight structure Loads (forces) Mass ratios Minimal mass Mixed integer Mixed integer nonlinear programming Prestressing Semi-definite programming Stiffness Structural members Tensegrity structures Lightweight structure Active tensegrity structure Minimal mass Mixed integer nonlinear programming Semi-definite programming
ISSN:	0141-0296, 1873-7323
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Abstract	•A general method for designing minimal mass active tensegrity structures is proposed.•The design of the structure parameters and actuator parameters are integrated.•The performance of different actuator layout modes on mass-efficiency is investigated.•The method is a unifying framework for designing minimal mass tensegrity structures. Tensegrity structures have been widely utilized as lightweight structures due to their high stiffness-to-mass and strength-to-mass ratios. Minimal mass design of tensegrity structures subject to external loads and specific constraints (e.g., member yielding and buckling) has been intensively studied. However, all the existing studies focus on passive tensegrity structures, i.e., the structural members cannot change their lengths actively and the structure has to passively resist external loads. An active tensegrity structure equipped with actuators can actively adapt its internal forces and nodal positions and thus can actively resist external loads. Therefore, it is expected that active tensegrity structures use less material compared to passive tensegrity structures thus leading to a smaller mass. Due to the integration of the active control system, the design of active tensegrity structures is different from passive tensegrity structures. This study proposes a general approach for the design of minimal mass active tensegrity structures based on a mixed integer programming scheme, in which the member cross-sectional areas, prestress, actuator layout and control strategies (i.e., actuator length changes) are designed simultaneously. The member cross-sectional areas, prestress level, and actuator control strategies are treated as continuous variables and the actuator layout is treated as a binary variable. The equilibrium condition, member yielding, cable slackness, strut buckling, and the limitations on the nodal displacements as well as other practical requirements are formulated as constraints. Three typical active tensegrity structures are designed through the proposed approach and the results are benchmarked with the equivalent minimal mass passive designs. It is illustrated that the active designs can significantly decrease the material consumption compared with the equivalent passive designs thus leading to more lightweight tensegrity structures.
AbstractList	Tensegrity structures have been widely utilized as lightweight structures due to their high stiffness-to-mass and strength-to-mass ratios. Minimal mass design of tensegrity structures subject to external loads and specific constraints (e.g., member yielding and buckling) has been intensively studied. However, all the existing studies focus on passive tensegrity structures, i.e., the structural members cannot change their lengths actively and the structure has to passively resist external loads. An active tensegrity structure equipped with actuators can actively adapt its internal forces and nodal positions and thus can actively resist external loads. Therefore, it is expected that active tensegrity structures use less material compared to passive tensegrity structures thus leading to a smaller mass. Due to the integration of the active control system, the design of active tensegrity structures is different from passive tensegrity structures. This study proposes a general approach for the design of minimal mass active tensegrity structures based on a mixed integer programming scheme, in which the member cross-sectional areas, prestress, actuator layout and control strategies (i.e., actuator length changes) are designed simultaneously. The member cross-sectional areas, prestress level, and actuator control strategies are treated as continuous variables and the actuator layout is treated as a binary variable. The equilibrium condition, member yielding, cable slackness, strut buckling, and the limitations on the nodal displacements as well as other practical requirements are formulated as constraints. Three typical active tensegrity structures are designed through the proposed approach and the results are benchmarked with the equivalent minimal mass passive designs. It is illustrated that the active designs can significantly decrease the material consumption compared with the equivalent passive designs thus leading to more lightweight tensegrity structures. •A general method for designing minimal mass active tensegrity structures is proposed.•The design of the structure parameters and actuator parameters are integrated.•The performance of different actuator layout modes on mass-efficiency is investigated.•The method is a unifying framework for designing minimal mass tensegrity structures. Tensegrity structures have been widely utilized as lightweight structures due to their high stiffness-to-mass and strength-to-mass ratios. Minimal mass design of tensegrity structures subject to external loads and specific constraints (e.g., member yielding and buckling) has been intensively studied. However, all the existing studies focus on passive tensegrity structures, i.e., the structural members cannot change their lengths actively and the structure has to passively resist external loads. An active tensegrity structure equipped with actuators can actively adapt its internal forces and nodal positions and thus can actively resist external loads. Therefore, it is expected that active tensegrity structures use less material compared to passive tensegrity structures thus leading to a smaller mass. Due to the integration of the active control system, the design of active tensegrity structures is different from passive tensegrity structures. This study proposes a general approach for the design of minimal mass active tensegrity structures based on a mixed integer programming scheme, in which the member cross-sectional areas, prestress, actuator layout and control strategies (i.e., actuator length changes) are designed simultaneously. The member cross-sectional areas, prestress level, and actuator control strategies are treated as continuous variables and the actuator layout is treated as a binary variable. The equilibrium condition, member yielding, cable slackness, strut buckling, and the limitations on the nodal displacements as well as other practical requirements are formulated as constraints. Three typical active tensegrity structures are designed through the proposed approach and the results are benchmarked with the equivalent minimal mass passive designs. It is illustrated that the active designs can significantly decrease the material consumption compared with the equivalent passive designs thus leading to more lightweight tensegrity structures.
ArticleNumber	111965
Author	Wang, Yafeng Luo, Yaozhi Xu, Xian
Author_xml	– sequence: 1 givenname: Yafeng orcidid: 0000-0002-7470-1200 surname: Wang fullname: Wang, Yafeng email: yafeng.wang.1239@gmail.com organization: College of Civil Engineering and Architecture, Zhejiang University, 866 Yuhangtang Road, Hangzhou, Zhejiang 310058, China – sequence: 2 givenname: Xian surname: Xu fullname: Xu, Xian email: xian_xu@zju.edu.cn organization: College of Civil Engineering and Architecture, Zhejiang University, 866 Yuhangtang Road, Hangzhou, Zhejiang 310058, China – sequence: 3 givenname: Yaozhi surname: Luo fullname: Luo, Yaozhi email: luoyz@zju.edu.cn organization: College of Civil Engineering and Architecture, Zhejiang University, 866 Yuhangtang Road, Hangzhou, Zhejiang 310058, China
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Snippet	•A general method for designing minimal mass active tensegrity structures is proposed.•The design of the structure parameters and actuator parameters are... Tensegrity structures have been widely utilized as lightweight structures due to their high stiffness-to-mass and strength-to-mass ratios. Minimal mass design...
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StartPage	111965
SubjectTerms	Active control Active tensegrity structure Actuators Buckling Continuity (mathematics) Control systems Control systems design Cross-sections Design Equilibrium conditions Equivalence Integer programming Internal forces Layouts Lightweight Lightweight structure Loads (forces) Mass ratios Minimal mass Mixed integer Mixed integer nonlinear programming Prestressing Semi-definite programming Stiffness Structural members Tensegrity structures
Title	Minimal mass design of active tensegrity structures
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