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首页> 外文会议>Biennial International Conference on Engineering, Science, Construction, and Operations in Challenging Environments >Tensegrity Lander Architectures for Planetary Explorations
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Tensegrity Lander Architectures for Planetary Explorations

机译：用于行星探索的张力整体着陆器结构

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This paper investigates two different tensegrity topologies with a few adjustable structure parameters as candidate planetary landers. The overarching goal is to seek the minimal mass designs that can keep the acceleration of a payload below a specified value during landing after a free fall. It is required that the payload stays above the ground, or in the worst case, just touches the ground with zero velocity. It is also required that no tensile member yields, and no compressive member either buckles or yields during impact. The topologies investigated in this study are the tensegrity prism and the double-helix tensegrity (DHT). In particular, this study considers a square prism and a four-legged DHT with additional string-to-string networks. The complexity of the structure in the vertical direction, prestress, and damping coefficient of each tensile member are treated as design variables for both prism and DHT. Simulating tensegrity dynamics in terms of node and connectivity matrices, a trade study is presented to compare payload accelerations for the two architectures with variable complexity, prestress, and damping. Candidate minimal mass designs are obtained by reducing bar diameters iteratively till all the bars and strings remain intact. Results presented in the paper demonstrate that the prism landers have a clear advantage over the DHT landers in terms of mass and acceleration. The two-stage tensegrity prism requires the smallest mass of all the architectures considered in this work.
机译：本文研究了两种不同的张拉整体拓扑结构，并将其作为候选行星着陆器。总体目标是寻求最小质量设计，使有效载荷在自由落体后着陆时的加速度低于规定值。要求有效载荷保持在地面以上，或者在最坏的情况下，仅以零速度接触地面。还要求在冲击过程中，拉伸构件不得屈服，压缩构件不得屈曲或屈服。本研究中研究的拓扑结构是张拉整体棱镜和双螺旋张拉整体（DHT）。特别是，本研究考虑了一个方形棱柱体和一个四条腿的DHT，以及额外的串对串网络。对于prism和DHT，结构在垂直方向的复杂性、预应力和每个受拉构件的阻尼系数都被视为设计变量。根据节点和连接矩阵模拟张拉整体动力学，提出了一项权衡研究，以比较两种结构在复杂度、预应力和阻尼可变的情况下的有效载荷加速度。通过反复减小钢筋直径，直到所有钢筋和绳索保持完整，从而获得候选最小质量设计。本文给出的结果表明，棱镜着陆器在质量和加速度方面明显优于DHT着陆器。两级张拉整体棱镜需要的质量在本工作中考虑的所有结构中最小。

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