Adaptive Tensegrity Module. II: Tests and Comparison of Results

AbstractThis paper describes a newly developed adaptive tensegrity module which has the ability to alter its geometrical form and prestress properties in order to adapt its behavior to current loading conditions. The novel adaptive structure and its connections create a new aspect which is presented in the paper. This system contains sensors that sense forces from the environment and an actuator that adjusts its shape accordingly, depending upon the load applied. The structure, in the form of an octahedral cell, consists of eight prestressed cables, four circumferential compressed struts and a central compressed strut which is designed to function as an actuator. Five types of tests were carried out, namely a prestressing test, a static loading test, and three adaptation tests. Tests confirmed the functionality of the developed adaptive system and the applicability of the proposed equipment, software, computational models, and control commands. Responses of the structure obtained analytically and numerica...

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