Soft tensegrity structures are composed of compliant elastomer elements that fulfill the roles of tension and compression parts. It is also possible to have elastomer elements that are affected by magnetic forces by adding ferromagnetic particles to their composition. This opens up the possibility to actuate a soft tensegrity structure through magnetic forces that can affect some parts of it. The current thesis developed a mechanism prototype to actuate magnetically a linear soft tensegrity structure. To achieve this actuated movement, first, an angular oscillating movement was proposed for a linear tensegrity structure, and the pre-stressed configuration of tension elements was established. Next, the fabrication process is also explained in detail, considering batch calculations, mold considerations, and the individual steps of the elastomer element fabrications. Finally, a driver mechanism was designed to actuate the soft tensegrity structure, and the kinematic calculations of the mechanism were also considered.

Autor(es):
AVILA MAÑUICO, Eder Jhoel
Institución:
Technische Universität Ilmenau / Fakultat für Maschinenbau / Master of Science Maschinenbau
Año: 2023
Ciudad: Ilmenau
Url: http://opac.lbs-ilmenau.gbv.de/DB=1/LNG=DU/PPN?PPN=1816777676