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Modeling and Simulation of Tensegrity Structure based on SimMechanics

He, Yunzheng
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1592395403390476

Abstract Details

2020, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
The research and development process of tensegrity structures has thus far been to analyze the mathematical model then utilize physical models to prove new theories. This process is time-consuming and costly. It is in researchers’ as well as the private sectors’ best interests to shorten this process as much as possible without resulting in false conclusions. This thesis proves that we can do just that by adopting a novel method of performing tensegrity vibration and control simulations. This method uses Simulink in conjunction with a specialized module in MATLAB, SimMechanics. To study this new method, we built a complete model of a Class-Two, Five-Layer tensegrity tower in SimMechanics. Actuators and sensors are attached to the structure to carry out simulations. The Five-Layer tower was then modified into a Three_Layer one to carry out forced vibration experiments using base excitation of the structure through chirp signals were performed and the dynamic responses were recorded and compared to previous experimental results. Next, A One-Layer tensegrity robot model was built to conduct dynamic and control simulations. PID controller was also introduced to the model, and step response simulation results were plotted and analyzed. The experimental results indicate that a computational modeling and research approach is an effective and accurate modeling approach for tensegrity structures.
Kelly Cohen, Ph.D. (Committee Chair)
Anoop Sathyan, PhD (Committee Member)
George T. Black, M.S. (Committee Member)
Wei Wei, Ph.D. (Committee Member)
61 p.
Aerospace Materials
tensegrity; SimMechanics; dynamic and control; simulation; modeling

Recommended Citations

Citations

  • He, Y. (2020). Modeling and Simulation of Tensegrity Structure based on SimMechanics [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1592395403390476

    APA Style (7th edition)

  • He, Yunzheng. Modeling and Simulation of Tensegrity Structure based on SimMechanics. 2020. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1592395403390476.

    MLA Style (8th edition)

  • He, Yunzheng. "Modeling and Simulation of Tensegrity Structure based on SimMechanics." Master's thesis, University of Cincinnati, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1592395403390476

    Chicago Manual of Style (17th edition)

ucin1592395403390476
1,201
© 2020, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.