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Deployable tensegrity towers.

机译：可部署的张力塔。

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The design of a complete tensegrity system involves the analysis of static equilibria, the mechanical properties of the configuration, the deployment of the structure, and the regulation and dynamics of the system. This dissertation will explore these steps for two different types of structures. The first structure is the traditional Snelson Tower, where struts are disjointed, and is referred to as a Class 1 tensegrity. The second structure of interest is referred to as a Class 2 structure, where two struts come in contact at a joint.; The first part of the thesis involves the dynamics of these tensegrity structures. Two complete nonlinear formulations for the dynamics of tensegrity systems are derived. In addition, a general formulation for the statics for an arbitrary tensegrity structure resulted from one of the dynamic formulations and is presented with symmetric and nonsymmetric tensegrity configurations.; The second part of the thesis involves statics. The analysis of static equilibria and the implementation of this analysis into an open loop control law that will deploy the tensegrity structures along an equilibrium manifold are derived. The analysis of small stable tensegrity units allow for a modular design, where a collection of these units can be assembled into a larger structure that obeys the same control laws for deployment concepts. In addition, a loaded structure is analyzed to determine the optimal number of units required to obtain a minimal mass configuration.; The third part of the thesis involves laboratory hardware that demonstrates the practical use of the methodology presented. A Class 2 symmetric structure is constructed, deployed, and stowed using the analysis from part two. In addition, the static equilibria of a Class 1 structure is computed to obtain nonsymmetric reconfigurations.; The final part of the thesis involves the attenuation of white noise disturbances acting on nodes of both structures. The structures are simulated using linear quadratic gausian regulators (LQG) and a practical actuator selection scheme is proposed for the structures.
机译：完整的张力系统的设计涉及静平衡分析，构型的机械性能，结构的展开以及系统的调节和动力学。本文将针对两种不同类型的结构探索这些步骤。第一个结构是传统的Snelson塔，支柱不相连，被称为1级张紧力。感兴趣的第二种结构称为2类结构，其中两个支柱在一个关节处接触。本文的第一部分涉及这些张力结构的动力学。得出了用于张力系统动力学的两个完整的非线性公式。此外，由一种动态公式得出的任意张力结构的静力学通用公式表示为对称和非对称张力构造。论文的第二部分涉及静力学。推导了静态平衡分析，并将该分析实现为开环控制定律，该定律将沿平衡流形部署张力结构。对小型稳定张力单元的分析允许进行模块化设计，其中可以将这些单元的集合组装成一个较大的结构，该结构应遵守部署概念的相同控制律。另外，分析加载的结构以确定获得最小质量配置所需的最佳单位数量。论文的第三部分涉及实验室硬件，该硬件演示了所提出方法的实际使用。使用第二部分的分析来构造，部署和存放2类对称结构。此外，计算1类结构的静态平衡以获得非对称的重新配置。本文的最后一部分涉及对两个结构的节点施加的白噪声干扰的衰减。使用线性二次高斯调节器（LQG）对结构进行仿真，并为该结构提出了一种实用的执行器选择方案。

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