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Proceedings Paper

Efficient dynamic models of tensegrity systems
Author(s): Robert Skelton
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Paper Abstract

The multi-body dynamics appear in a new form, as a matrix differential equation, rather than the traditional vector differential equation. The model has a constant mass matrix, and the equations are non-minimal. A specific focus of this paper is tensegrity systems. A tensegrity system requires prestress for stabilization of the configuration of rigid bodies and tensile members. This paper provides an efficient model for both static and dynamic behavior of such systems, specialized for the case when the rigid bodies are axi-symmetric rods.

Paper Details

Date Published: 3 April 2009
PDF: 15 pages
Proc. SPIE 7286, Modeling, Signal Processing, and Control for Smart Structures 2009, 72860P (3 April 2009); doi: 10.1117/12.819376
Show Author Affiliations
Robert Skelton, Univ. of California, San Diego (United States)

Published in SPIE Proceedings Vol. 7286:
Modeling, Signal Processing, and Control for Smart Structures 2009
Douglas K. Lindner, Editor(s)

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