AUTHOR=Boz Utku , Goyal Raman , Skelton Robert E. 

TITLE=Actuators and Sensors Based on Tensegrity D-bar Structures

JOURNAL=Frontiers in Astronomy and Space Sciences

VOLUME=5

YEAR=2018

URL=https://www.frontiersin.org/journals/astronomy-and-space-sciences/articles/10.3389/fspas.2018.00041

DOI=10.3389/fspas.2018.00041

ISSN=2296-987X

ABSTRACT=<p>Tensegrity offers lightweight deployable structures for use in many engineering disciplines. Among all of the available tensegrity forms, <italic>D-Bar</italic> has a potential for combined applications of sensing, actuation, and structural support. In this paper, we enhance the minimal mass formulation of the <italic>D-Bar</italic> by including yielding of the compressive members as a design constraint in contrast to the previous assumption which considers buckling as the sole failure mechanism. In addition, we analyze the length and force gains of a <italic>D-bar</italic> system analytically by considering the minimal mass <italic>D-bar</italic> as the design constraint. Furthermore, we calculate the stiffness of the <italic>D-Bar</italic> and when appropriate use as design constraints as well. To enhance the minimal mass properties of the <italic>D-Bar</italic>, we combine T-bar and D-bar systems. The analysis shows that these structures are the basis for effective force transducers, force-controlled actuators, and efficient deployable compressive structures.</p>