Search for: All records

Abstract Tensegrity structures become important components of various engineering structures due to their high stiffness, light weight, and deployable capability. Existing studies on their dynamic analyses mainly focus on responses of their nodal points while overlook deformations of their cable and strut members. This study proposes a non-contact approach for experimental modal analysis of a tensegrity structure to identify its three-dimensional (3D) natural frequencies and full-field mode shapes, which include modes with deformations of its cable and strut members. A 3D scanning laser Doppler vibrometer is used with a mirror for extending its field of view to measure full-field vibration of a novel three-strut metal tensegrity column with free boundaries. Tensions and axial stiffnesses of its cable members are determined using natural frequencies of their transverse and longitudinal modes, respectively, to build its theoretical model for dynamic analysis and model validation purposes. Modal assurance criterion (MAC) values between experimental and theoretical mode shapes are used to identify their paired modes. Modal parameters of the first 15 elastic modes of the tensegrity column identified from the experiment, including those of the overall structure and its cable members, can be classified into five mode groups depending on their types. Modes paired between experimental and theoretical results have MAC values larger than 78%. Differences between natural frequencies of paired modes of the tensegrity column are less than 15%. The proposed non-contact 3D vibration measurement approach allows accurate estimation of 3D full-field modal parameters of the tensegrity column. 

Abstract The advent of robotics in medicine has brought about a paradigm shift, enabling minimally invasive interventions for in-vivo practices. Pill-based robots, specifically designed at the millimeter scale, have emerged as a viable alternative to traditional endoscopic methods for gastrointestinal tract diagnostics and treatment. These millirobots, capable of navigating the complex and constrained environments of the human body, offer a significant advantage by enabling thorough visualization or targeted drug delivery in a single session without the need for sedation. We previously developed a novel deployable tensegrity robot, designed for gastrointestinal diagnostics and treatment, which addresses the limitations of conventional capsule endoscopes through its unique structure and locomotion mechanism. Tensegrity structures, characterized by a network of components in tension and compression, provide an innovative solution to the challenges of designing robots for in-vivo applications. Our millimeter-scale tensegrity robot leverages the inherent advantages of such structures — lightweight, high stiffness, and adaptability — to navigate through densely packed tissues and high-pressure environments within the GI tract. Inspired by the locomotion of earthworms, the movement mechanism of the robot enables efficient navigation and precise positioning, significantly reducing the risk of retention and ensuring patient safety. This paper investigates the design and fabrication process of the tensegrity robot, focusing on achieving a high folding ratio to facilitate its deployment as a pill-based robot. Through a comparison of the robot’s fabricated dimensions with the theoretical design, we evaluate the accuracy of the fabrication process, highlighting the potential of this innovative approach in transforming GI tract diagnostics and treatment. The deployment of such tensegrity-based millirobots marks a new era in medical devices, promising enhanced patient safety and comfort through non-invasive methods. 

Abstract Tensegrity structures have emerged as important components of various engineering structures due to their high stiffness, light weight, and deployable capability. Existing studies on dynamic analyses of tensegrity structures mainly focus on responses of their nodal points while overlook deformations of their cable and strut members. This study aims to propose a non-contact approach for experimental modal analysis of a tensegrity structure to identify its three-dimensional (3D) natural frequencies and full-field mode shapes, which include modes with deformations of its cable and strut members. A 3D scanning laser Doppler vibrometer (SLDV) is used with a mirror for extending its field of view to measure full-field vibration of a three-strut tensegrity column with free boundaries. Tensions and axial stiffnesses of cable members of the tensegrity column are determined using natural frequencies of their transverse and longitudinal modes, respectively, and used to build a numerical model of the tensegrity column for dynamic analysis and model validation purposes. Modal assurance criterion (MAC) values between experimental and numerical mode shapes are used to identify their paired modes. Natural frequencies and mode shapes of the first 15 elastic modes of the tensegrity column are identified from the experiment, which include modes of the overall structure and its cable members. These identified modes can be classified into five mode groups depending on their types. Five modes are paired between experimental and numerical results with MAC values larger than 78%. Differences between natural frequencies of paired modes of the tensegrity column are less than 15%. The non-contact 3D vibration measurement approach presented in this work can measure responses of nodal points, as well as deformations of cable and strut members, of the tensegrity column, and allows accurate estimation of its 3D full-field modal parameters. 

Large deployable mesh reflectors play a critical role in satellite communications, Earth observation, and deep-space exploration, offering high-gain antenna performance through precisely shaped reflective surfaces. Traditional dynamic modeling approaches—such as wave-based and finite element methods—often struggle to accurately capture the complex behavior of three-dimensional reflectors due to oversimplifications of cable members. To address these challenges, this paper proposes a novel spatial discretization framework that systematically decomposes cable member displacements into boundary-induced and internal components in a global Cartesian coordinate system. The framework derives a system of ordinary differential equations for each cable member by enforcing the Lagrange’s equations, capturing both longitudinal and transverse internal displacement of the cable member. Numerical simulations of a two-dimensional cable-network structure and a center-feed parabolic deployable mesh reflector with 101 nodes illustrate the improved accuracy of the proposed method in predicting vibration characteristics across a broad frequency range. Compared to standard finite element analysis, the proposed method more effectively identifies both low- and high-frequency modes and offers robust convergence and accurate prediction for both frequency and transient responses of the structure. This enhanced predictive capability underscores the significance of incorporating internal cable member displacements for reliable dynamic modeling of large deployable mesh reflectors, ultimately informing better design, control, and on-orbit performance of future space-based reflector systems. 

Large deployable mesh reflectors are crucial in space applications due to their lightweight and efficient storage characteristics. However, achieving high surface accuracy and managing the significant thermal effects experienced during on-orbit operations remain challenges in deployable mesh reflector design. This paper presents an innovative dynamic thermal modeling methodology for large deployable mesh reflectors, effectively addressing these obstacles. The proposed method considers a comprehensive set of radiation factors including solar, Earth, Albedo, and reflector emissions. This allows for a detailed analysis of dynamic thermal behavior of the reflector, thereby accurately capturing the impact of thermal strains of cable members on surface accuracy. Simulations of a 101-node center-feed parabolic reflecting surface of a deployable mesh reflector indicate that the proposed method can reveal non-uniform temperature distributions, unlike traditional methods that presuppose uniformity. Additionally, the proposed method has proven effective in accurately predicting the root-mean-square error increase of the reflector, typically unobserved in traditional thermal modeling techniques. 

Micro-, and milli-scale robots have been of great R&D interest, due to their ability to accomplish difficult tasks such as minimally invasive diagnosis and treatment for human bodies, and underground or deep-sea tests for environment monitoring. A good solution to this design need is a multi-unit deployable tensegrity microrobot. The microrobot can be folded to only 15% of its deployed length, so as to easily enter a desired working area with a small entrance. When deployed, the tensegrity body of the robot displays lightweight and high stiffness to sustain loads and prevent damage when burrowing through tightly packed tissues or high-pressure environments. In this work, topology, initial configuration and locomotion of a deployable tensegrity microrobot are determined optimally. Based on the design, a centimeter-scale prototype is manufactured by using a fused deposition modelling advanced additive manufacturing or 3-D printing system for proof of concept. As shown in experimental results, the deployable tensegrity microrobot prototype designed and manufactured can achieve an extremely high folding ratio, while be lightweight and rigid. The locomotion design, that mimics a crawling motion of an earthworm, is proved to be efficient by the prototype equipped with stepper motors, actuation cables, control boards and a braking system. 

Tensegrity structures have experienced continued research and development interests in the past several decades. Revealing dynamic characteristics of a tensegrity structure, for example: vibration analysis, is an important objective in structural design and analysis. Traditional dynamic modeling methods are inaccurate in predicting dynamic responding of a tensegrity structure, due to their neglection of internal displacements of structure members. To solve this issue, a new nonlinear dynamic modeling method for tensegrity structures is proposed in this paper. This method defines position of a structure member as a summation of boundary-induced terms and internal terms in a global coordinate system. A nonlinear dynamic model of a tensegrity structure is derived from Lagrange equation, as a system of ordinary differential equations. This dynamic model can be linearized at an equilibrium configuration for vibration analysis. As shown in simulation results, the proposed method can predict natural frequencies of a tensegrity structure with a better accuracy than the traditional methods. Unlike the traditional methods that can only predict dynamic responses in a low frequency domain, the proposed method can also reveal dynamic responses of a tensegrity structure in a higher frequency domain by only using a small number of internal terms. 

In the design of a large deployable mesh reflector, high surface accuracy is one of ultimate goals since it directly determines overall performance of the reflector. Therefore, evaluation of surface accuracy is needed in many cases of design and analysis of large deployable mesh reflectors. The surface accuracy is usually specified as root-mean-square error, which measures deviation of a mesh geometry from a desired working surface. In this paper, methods of root-mean-square error calculation for large deployable mesh reflectors are reviewed. Concept of reflector gain, which describes reflector performance, and its relationship with the root-mean-square error is presented. Approaches to prediction or estimation of root-mean-square error in preliminary design of a large deployable mesh reflector are shown. Three methods of root-mean-square error calculation for large deployable mesh reflectors, namely, the nodal deviation root-mean-square error, the best-fit surface root-mean-square error, and the direct root-mean-square error, are presented. Concept of effective region is introduced. An adjusted calculation of root-mean-square error is suggested when the concept of effective region is involved. Finally, these reviewed methods of root-mean-square error calculation are applied to surface accuracy evaluation of a two-facet mesh geometry, a center-feed mesh reflector, and an offset-feed mesh reflector for demonstration and comparison.