Kinematics and Dynamics of a Tensegrity-Based Water Wave Energy Harvester

A tensegrity-based water wave energy harvester is proposed. The direct and inverse kinematic problems are investigated by using a geometric method. Afterwards, the singularities and workspaces are discussed. Then, the Lagrangian method was used to develop the dynamic model considering the interaction between the harvester and water waves. The results indicate that the proposed harvester allows harvesting 13.59% more energy than a conventional heaving system. Therefore, tensegrity systems can be viewed as one alternative solution to conventional water wave energy harvesting systems.

[1]  C. Calladine.  Buckminster Fuller's “Tensegrity” structures and Clerk Maxwell's rules for the construction of stiff frames , 1978 .

[2]  S. Pellegrino,et al.  A Class of Tensegrity Domes , 1992 .

[3]  D. Ingber,et al.  Cellular tensegrity : defining new rules of biological design that govern the cytoskeleton , 2022 .

[4]  A. Hanaor,et al.  Double-Layer Tensegrity Grids as Deployable Structures , 1993 .

[5]  K. Waldron,et al.  Closed-form direct displacement analysis of a 6-6 Stewart platform , 1994 .

[6]  Tensegrity Prisms as Adaptive Structures , 1997, Adaptive Structures and Material Systems.

[7]  Carl D. Crane,et al.  Kinematic Analysis of Robot Manipulators , 1998 .

[8]  D. Ingber.  The architecture of life. , 1998, Scientific American.

[9]  René Motro,et al.  Multiparametered Formfinding Method: Application to Tensegrity Systems , 1999 .

[10]  Martin Corless,et al.  Peak-to-peak control of an adaptive tensegrity space telescope , 1999, Smart Structures.

[11]  Carl D. Crane,et al.  A review of a family of self-deploying tensegrity structures with elastic ties , 2000 .

[12]  Martin Corless,et al.  Tensegrity Flight Simulator , 2000 .

[13]  Kevin Barraclough,et al.  I and i , 2001, BMJ : British Medical Journal.

[14]  S. Levin.  THE TENSEGRITY-TRUSS AS A MODEL FOR SPINE MECHANICS: BIOTENSEGRITY , 2002 .

[15]  Gunnar Tibert,et al.  Deployable Tensegrity Structures for Space Applications , 2002 .

[16]  D. Ingber.  Tensegrity I. Cell structure and hierarchical systems biology , 2003, Journal of Cell Science.

[17]  R. Motro,et al.  Tensegrity Systems , 2003 .

[18]  René Motro,et al.  Tensegrity: Structural Systems for the Future , 2003 .

[19]  A. Tibert,et al.  Review of Form-Finding Methods for Tensegrity Structures , 2003 .

[20]  Matthew Q. Marshall.  ANALYSIS OF TENSEGRITY-BASED PARALLEL PLATFORM DEVICES , 2003 .

[21]  Feng Fu.  Structural behavior and design methods of Tensegrity domes , 2005 .

[22]  R.E. Skelton,et al.  Regenerative Tensegrity Structures for Energy Harvesting Applications , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[23]  Chandana Paul,et al.  Design and control of tensegrity robots for locomotion , 2006, IEEE Transactions on Robotics.

[24]  Sergi Hernandez Juan,et al.  Tensegrity frameworks: Static analysis review. , 2008 .

[25]  C. Crane,et al.  Kinematic Analysis of a Planar Tensegrity Mechanism with Pre-Stressed Springs , 2008 .

[26]  Josep M. Mirats Tur,et al.  Control and simulation of a tensegrity-based mobile robot , 2009, Robotics Auton. Syst..

[27]  René Motro,et al.  Designing tensegrity modules for pedestrian bridges , 2010 .

[28]  A. Abedian,et al.  Design of tensegrity structures for supporting deployable mesh antennas , 2011 .

[29]  Rafael Esteban,et al.  Analysis of a tensegrity system for ocean wave energy harvesting , 2011 .

[30]  J. Michael McCarthy,et al.  21st Century Kinematics: Synthesis, Compliance, and Tensegrity , 2011 .

[31]  W. Marsden.  I and J , 2012 .

[32]  Shinichi Hirai,et al.  Dynamic simulation of six-strut tensegrity robot rolling , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[33]  René Motro,et al.  Design Aspects of a Deployable Tensegrity-Hollow-rope Footbridge , 2012 .

[34]  K. Koohestani.  Form-finding of tensegrity structures via genetic algorithm , 2012 .

[35]  Ian F. C. Smith,et al.  Configuration of control system for damage tolerance of a tensegrity bridge , 2012, Adv. Eng. Informatics.

[36]  Mehrdad Farid,et al.  Kinematic and Static Analyses of Statically Balanced Spatial Tensegrity Mechanism with Active Compliant Components , 2013, J. Intell. Robotic Syst..

[37]  Rakesh K. Kapania,et al.  Optimal Energy Harvesting from a Membrane Attached to a Tensegrity Structure , 2013 .

[38]  Rafael E. Vásquez,et al.  Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting , 2014 .

[39]  R. Skelton,et al.  Minimum mass design of tensegrity bridges with parametric architecture and multiscale complexity , 2014 .

[40]  M. Mccormick.  Ocean Wave-Energy Conversion , 2019, Encyclopedia of Ocean Sciences.