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Squishy Tensegrity Robots Were Meant for Mars and Other Alien Worlds, Now They Serve Us

Whenever the term "robot” pops up in a discussion, we tend to imagine either some sort of humanoid machine, or an industrial tool meant for th. ....

United States , Terry Fong , Alice Agogino , Ames Research Center , Boston Dynamic , Squishy Robotics , Games Research , Squishy Robotics ,

"Optimised Behaviour of Load-Bearing Tensegrities" by James K. Roth

Tensegrities are pin-jointed frameworks consisting of discontinuous compressive struts held within a tensioned cable net. Existing in a state of self-equilibrium, tensegrity structures can be found in vary-ing states of rigidity dependent on the initial pretension existing within the cables. The current state of tensegrity understanding appears comprehensive, and yet, tensegrities appear to be relegated to a class of architectural sculpture, due to the complexity associated with understanding their behaviour. This com-plexity is often attributed to the lack of application for tensegrity structures within the built environment. For this reason, this thesis aims to examine the effect of compressive loading on tensegrities, and how different pretensions, geometries and materials aid in resisting this applied loading.
A review was conducted to determine a current understanding of load bearing tensegrity structures. Through conducting this review, it was found that stiffness and load bea ....

Genetic Algorithm , Ompressive Load ,

"Optimizing compressive load capacity for differing tensegrity geometri" by James K. Roth and Timothy J. McCarthy


Abstract
Tensegrity structures present new possibilities to the field of structural engineering, owing to their ability to efficiently distribute compressive loads associated with their non-orthogonal design. Previous research has shown that when pretensioned, tensegrities exhibit higher resistance to compressive loading. However, over-tensioning can have adverse effects, reducing the tensegrities overall resistance to compressive loading. The geometry of a tensegrity affects how the structure reacts to loading, and the prestress and loading can concurrently affect geometry. This paper uses genetic algorithms to optimize the pretension loads in the cables of a tensegrity to deliver the highest overall vertical load capacity. The results are applied to determine the ultimate load-carrying capacity of tensegrities under a compressive load and determine the optimal aspect ratio at which this is achieved. By optimizing the pretension, the tensegrity can withstand compressive loads ....

Aspect Ratio , Ompressive Load , Genetic Algorithm , அம்சம் ரேஶியோ ,