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CHAI LIAN OH
KOK KEONG CHOONG
TOKU NISHIMURA
JAE-YEOL KIM
OMID HASSANSHAHI

Abstract

TENSEGRITIES OWN CHARACTERISTICS LIKE LIGHTWEIGHT AND FLEXIBILITY THAT IS SUITABLE FOR SHAPE CHANGE. THIS PAPER PRESENTS A SHAPE CHANGE STRATEGY OF TENSEGRITY MODELS. MATHEMATICAL FORMULATION FOR INCREMENTAL EQUILIBRIUM EQUATIONS OF A TENSEGRITY MODEL DURING THE SHAPE CHANGE ANALYSIS IS PRESENTED. AN OPTIMIZATION APPROACH IN DETERMINING FORCED ELONGATION OF CABLES USING SEQUENTIAL QUADRATIC PROGRAMMING WITH DEFINED INEQUALITY CONSTRAINTS IS DESCRIBED.  FOUR TENSEGRITY MODELS ARE TESTED UNDER THE PROPOSED SHAPE CHANGE ALGORITHM. THE PROPOSED METHOD DETERMINES NEW INCREMENTAL NODAL COORDINATES DURING THE SHAPE CHANGE TO ACHIEVE THE PRESCRIBED TARGET COORDINATES. CAPABILITY OF TENSEGRITY MODELS TO UNDERGO BENDING, AXIAL, TWISTING DEFORMATION AND COMBINATIONS OF THESE DEFORMATIONS IS ALSO DEMONSTRATED.

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