feasibility study for a colossus tensegrity...
TRANSCRIPT
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Assumptions:
• Design of Parabolic Dish only (other structures later)
• Existing 60 mirrors/hardware to be mounted on new dish
• Gravity forces only
– in two positions (0, 50 deg azimuths)
– F(gravity)=f(new dish)+f(secondary)+f(60 mirrors/instruments)+5%margin
• Weight of all mirrors/instruments same as given,
– but attached to a new dish structure
– total weight distributed evenly among all nodes of new dish
• Design criteria: minimal mass (at both 0, 50) subject to constraints:
– yield and buckling constraints
– All nodes on the front side form a parabolic surface in both positions
– Mass of our design = max{mass at 0, mass at 50}
• Axially-loaded members:
– Hookean material (pipes and cables of same steel)
• Tensegrity topology not optimized, results are for an existing topology
Parabolic Structure
(1200 tons)
Instruments
(39 tons)
Primary & Secondary Mirror
(3584=3540+44 tons)
Assumptions: External Force= F(gravity)
Mirrors=60 x 59 tons = 3540 tons
Secondary mirror: 44 tons
Instrumentation: 39 tons
Existing design
F = [ m]g
= [(3584+weight of new dish)tons+5% margin]g
F/pq=(Force at each
of the pq nodes)
New design (of complexity= pq units)
Parabolic Structure
Instruments
(39 tons)
)(4
1 22 yxa
Lz d
[m]2.154
2
a
RLd
[m]2.234
22
L
rRa
[deg]50,0
)tons3584(]N[106.33 6F
]Kg/m[7862 3 bs
Material Properties
Specifications
]/m[1006.2 211 NEE bs
]/m[109.6 28 Nbs (tensegrity systems, pp.104-105, 2009)
]m[752 RD]m[5.72 rd
]m[15L
Assumptions: Dish Dimensions
Assumptions (Use an existing tensegrity unit, DHT)
3 variations below (blue bars, red cables)
Primal DHT unit Dual DHT unit Modified Dual DHT
Unit (best of the 3)
p unitsq units
We have NOT optimized the tensegrity geometry
We chose an existing geometry DHT (3 variations below)
mass of Hollow Pipe m(P), mass of solid rod m(B)
Assumptions: pipes compared to solid bars
0rir)(
4
44
02
3
i
i
bi rr
b
Ef
)( 22
0 iibi rrbm
)1(0 aarri
wall thin:1a
2
2
1
1)()(
a
aBmPm
ibi
440
1
1)()(
aBrPr i
44
4
1)()(
a
aBrPr ii
10/9a
)(32.0)( BmPm ii
)(31.1)(0 BrPr i
)(18.1)( BrPr ii
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
What Results? Mod. DHT (p,q)=(5,3)
blue bars (pipes),
red cables
What Results?Mod. DHT (p,q)=(5,3)
0 50
Results: Total Mass with Hollow Pipe
( ) (3584 653) tons 5%margin 39.6e6NF gravity
Mod. DHT: (For Comparison)
)10,10(),( qp( ) 2.7090 5 m P e kg ( ) 6.6776 5m P e kg
09.0 rri
Mod. DHT: (Our Selected Design)
)3,5(),( qptons653( ) 2.4180 5 m P e kg ( ) 5.9362 5 m P e kg
5
0 11curre 10nt kgde ( 1200tons)sign: m
(Total units pq=100)
(Total units pq=15)
compare (p,q) = (5,3)
with (10,10)
0 50
Repeat with a different complexity (p,q):
ibL
isL
50,04.0283e+001 4.0283e+001 4.0283e+001 4.0283e+001 4.0283e+001
8.4443e+000 8.4443e+000 8.4443e+000 8.4443e+000 8.4443e+000
3.6084e+001 3.6084e+001 3.6084e+001 3.6084e+001 3.6084e+001
9.1124e+000 9.1124e+000 9.1124e+000 9.1124e+000 9.1124e+000
4.4084e+001 4.4084e+001 4.4084e+001 4.4084e+001 4.4084e+001
-----------------------------------------------------------------------------------------------
3.1327e+001 3.1327e+001 3.1327e+001 3.1327e+001 3.1327e+001
1.0146e+001 1.0146e+001 1.0146e+001 1.0146e+001 1.0146e+001
2.5705e+001 2.5705e+001 2.5705e+001 2.5705e+001 2.5705e+001
1.2048e+001 1.2048e+001 1.2048e+001 1.2048e+001 1.2048e+001
-------------------------------------------------------------------------------------------------
1.8442e+001 1.8442e+001 1.8442e+001 1.8442e+001 1.8442e+001
1.8793e+001 1.8793e+001 1.8793e+001 1.8793e+001 1.8793e+001
4.4084e+000 4.4084e+000 4.4084e+000 4.4084e+000 4.4084e+000
2.2528e+001 2.2528e+001 2.2528e+001 2.2528e+001 2.2528e+001
2.0513e+001 2.0513e+001 2.0513e+001 2.0513e+001 2.0513e+001
2.0513e+001 2.0513e+001 2.0513e+001 2.0513e+001 2.0513e+001
4.0768e+001 4.0768e+001 4.0768e+001 4.0768e+001 4.0768e+001
3.6674e+001 3.6674e+001 3.6674e+001 3.6674e+001 3.6674e+001
2.2528e+001 2.2528e+001 2.2528e+001 2.2528e+001 2.2528e+001
--------------------------------------------------------------------------------------------
1.8305e+001 1.8305e+001 1.8305e+001 1.8305e+001 1.8305e+001
1.5865e+001 1.5865e+001 1.5865e+001 1.5865e+001 1.5865e+001
1.5865e+001 1.5865e+001 1.5865e+001 1.5865e+001 1.5865e+001
1.8305e+001 1.8305e+001 1.8305e+001 1.8305e+001 1.8305e+001
3.2101e+001 3.2101e+001 3.2101e+001 3.2101e+001 3.2101e+001
2.6886e+001 2.6886e+001 2.6886e+001 2.6886e+001 2.6886e+001
--------------------------------------------------------------------------------------------
1.3246e+001 1.3246e+001 1.3246e+001 1.3246e+001 1.3246e+001
1.3085e+001 1.3085e+001 1.3085e+001 1.3085e+001 1.3085e+001
1.3246e+001 1.3246e+001 1.3246e+001 1.3246e+001 1.3246e+001
2.1599e+001 2.1599e+001 2.1599e+001 2.1599e+001 2.1599e+001
1.3085e+001 1.3085e+001 1.3085e+001 1.3085e+001 1.3085e+001
Results: Lengths of pipes Lb and cables Ls (p,q=5,3)
p (longitude)
q (latitude)
0 504.3438e-010 3.9899e-010 4.1854e-010 4.1074e-010 4.0779e-010
6.4291e+006 6.4291e+006 6.4291e+006 6.4291e+006 6.4291e+006
5.4081e-010 5.5609e-010 5.3847e-010 5.4176e-010 5.4748e-010
4.5988e+006 4.5988e+006 4.5988e+006 4.5988e+006 4.5988e+006
3.1063e-010 3.1817e-010 3.1616e-010 3.1833e-010 3.1953e-010
----------------------------------------------------------------------------------------------
1.0411e-008 3.1273e-008 8.1268e-008 8.3371e-008 1.3439e-008
1.2640e+007 1.2640e+007 1.2640e+007 1.2640e+007 1.2640e+007
3.2790e-010 3.2903e-010 3.2991e-010 3.3273e-010 3.2922e-010
2.2909e+007 2.2909e+007 2.2909e+007 2.2909e+007 2.2909e+007
-----------------------------------------------------------------------------------------------
9.4527e+006 9.4527e+006 9.4527e+006 9.4527e+006 9.4527e+006
5.9537e+007 5.9537e+007 5.9537e+007 5.9537e+007 5.9537e+007
0 0 0 0 0
if
2.4197e+006 2.4197e+006 2.4197e+006 2.4197e+006 2.4197e+006
4.1364e+006 4.1364e+006 4.1364e+006 4.1364e+006 4.1364e+006
1.4840e+006 1.4840e+006 1.4840e+006 1.4840e+006 1.4840e+006
2.9771e+006 2.9771e+006 2.9771e+006 2.9771e+006 2.9771e+006
2.4163e-009 3.6038e-009 3.1151e-009 3.4290e-009 4.0895e-009
4.8041e+006 4.8041e+006 4.8041e+006 4.8041e+006 4.8041e+006
--------------------------------------------------------------------------------------------
6.9671e-010 7.3032e-010 7.4477e-010 7.1481e-010 7.1429e-010
1.6317e+007 1.6317e+007 1.6317e+007 1.6317e+007 1.6317e+007
1.3359e+007 1.3359e+007 1.3359e+007 1.3359e+007 1.3359e+007
2.4313e+006 2.4313e+006 2.4313e+006 2.4313e+006 2.4313e+006
3.2116e+006 3.2116e+006 3.2116e+006 3.2116e+006 3.2116e+006
6.5213e-010 6.7560e-010 6.7598e-010 6.6416e-010 6.7021e-010
---------------------------------------------------------------------------------------------
3.2181e+007 3.2181e+007 3.2181e+007 3.2181e+007 3.2181e+007
2.6866e-010 3.7886e-010 4.4696e-010 3.8045e-010 2.6850e-010
3.2181e+007 3.2181e+007 3.2181e+007 3.2181e+007 3.2181e+007
2.6870e-010 5.4422e-010 5.4302e-010 2.6179e-010 9.0692e-011
2.3609e-009 1.6145e-009 1.1908e-009 1.6233e-009 2.3584e-009
it
4.3957e+006 2.2491e+006 3.8286e-007 2.7504e+006 3.0415e+005
5.1826e+006 5.6694e+006 4.1413e+006 3.1217e+006 3.4973e+006
9.1838e-007 1.6197e-006 1.9712e+006 6.4620e+006 5.2565e-006
3.3818e+006 3.5960e+006 2.5031e+006 4.0425e+006 3.3977e+006
2.0282e-007 4.9274e-007 1.1671e-006 9.5092e-007 9.1314e-007
-----------------------------------------------------------------------------------------------
2.2320e+006 1.8760e+006 8.1396e-007 2.4841e-006 6.2040e+006
1.0266e+007 1.4985e+007 1.1899e+007 4.0088e+006 8.4078e+006
5.4698e-007 6.8883e-007 7.0909e+006 1.9242e+007 8.9800e-007
1.2812e+007 1.8966e+007 8.8316e+006 1.0440e+007 7.9529e+006
-----------------------------------------------------------------------------------------------
3.0700e+008 6.8074e-006 9.9643e+006 2.2805e-006 2.5715e+007
3.7888e+008 1.8757e+008 1.9995e+008 1.3517e+007 3.1441e+007
0 0 0 0 0
5.2642e+006 7.8287e+006 2.7708e+006 1.0318e+006 1.1172e-006
7.0021e+006 7.0417e-007 3.8201e-007 4.5678e+006 3.2815e+006
9.1986e-007 4.0189e+006 6.2861e+006 7.1020e+006 1.1032e-006
1.4937e+003 5.6999e-006 1.8496e+006 1.4699e-006 8.0730e+005
2.2616e+006 4.3535e-007 9.6190e-007 1.1881e-006 4.0056e+006
7.0954e+006 7.1297e+006 1.9902e+006 3.3282e+005 2.4766e+006
----------------------------------------------------------------------------------------------
9.6540e-007 1.0367e+007 5.2535e+006 2.1376e-006 4.5823e-007
2.0145e+007 7.0038e-007 3.8510e-007 6.3042e+006 2.0551e+007
5.0993e+005 1.1716e+007 1.2760e+007 7.7055e+006 4.2717e+005
9.1214e+006 6.0023e+006 2.4965e-006 5.8016e+005 5.6774e+006
1.0794e-006 3.7541e+006 1.1319e+007 4.1275e-006 1.5252e-006
1.1984e-006 6.0751e-007 6.6721e-007 1.3026e-006 3.5488e-006
--------------------------------------------------------------------------------------------
2.4267e+008 1.1616e+007 1.9284e+007 7.9716e+006 8.7543e-007
4.9973e-007 6.8642e-007 4.0614e+006 7.2110e-007 1.1741e-006
2.7286e+008 2.2906e+007 2.0905e+007 1.2662e+007 3.0892e+007
5.3281e-007 1.5617e+008 1.7558e+008 7.7951e-007 3.7634e-007
2.1227e+008 2.8231e-006 4.8381e-007 1.2235e+007 2.3284e+008
Results: pipe f and cable t forces
p
q
(50 ) (0 )f f f (3) force (required to hold parabolic shape between azimuth 0, and 50 deg)
if
it
4.3957e+006 2.2491e+006 3.8245e-007 2.7504e+006 3.0415e+005
-1.2465e+006 -7.5972e+005 -2.2878e+006 -3.3074e+006 -2.9318e+006
9.1784e-007 1.6192e-006 1.9712e+006 6.4620e+006 5.2559e-006
-1.2170e+006 -1.0028e+006 -2.0957e+006 -5.5634e+005 -1.2011e+006
2.0251e-007 4.9243e-007 1.1667e-006 9.5061e-007 9.1282e-007
-----------------------------------------------------------------------------------------------
2.2320e+006 1.8760e+006 7.3270e-007 2.4007e-006 6.2040e+006
-2.3741e+006 2.3447e+006 -7.4170e+005 -8.6315e+006 -4.2325e+006
5.4665e-007 6.8850e-007 7.0909e+006 1.9242e+007 8.9767e-007
-1.0097e+007 -3.9435e+006 -1.4078e+007 -1.2470e+007 -1.4956e+007
----------------------------------------------------------------------------------------------
2.9755e+008 -9.4527e+006 5.1162e+005 -9.4527e+006 1.6263e+007
3.1935e+008 1.2803e+008 1.4041e+008 -4.6020e+007 -2.8096e+007
0 0 0 0 0
2.8445e+006 5.4091e+006 3.5112e+005 -1.3879e+006 -2.4197e+006
2.8657e+006 -4.1364e+006 -4.1364e+006 4.3134e+005 -8.5495e+005
-1.4840e+006 2.5349e+006 4.8020e+006 5.6179e+006 -1.4840e+006
-2.9756e+006 -2.9771e+006 -1.1274e+006 -2.9771e+006 -2.1698e+006
2.2616e+006 4.3175e-007 9.5878e-007 1.1847e-006 4.0056e+006
2.2913e+006 2.3256e+006 -2.8139e+006 -4.4713e+006 -2.3275e+006
----------------------------------------------------------------------------------------------
9.6470e-007 1.0367e+007 5.2535e+006 2.1368e-006 4.5752e-007
3.8287e+006 -1.6317e+007 -1.6317e+007 -1.0013e+007 4.2346e+006
-1.2849e+007 -1.6430e+006 -5.9885e+005 -5.6533e+006 -1.2932e+007
6.6901e+006 3.5710e+006 -2.4313e+006 -1.8511e+006 3.2461e+006
-3.2116e+006 5.4249e+005 8.1070e+006 -3.2116e+006 -3.2116e+006
1.1978e-006 6.0684e-007 6.6653e-007 1.3019e-006 3.5481e-006
------------------------------------------------------------------------------------------------
2.1048e+008 -2.0564e+007 -1.2897e+007 -2.4209e+007 -3.2181e+007
4.9946e-007 6.8604e-007 4.0614e+006 7.2072e-007 1.1738e-006
2.4068e+008 -9.2751e+006 -1.1275e+007 -1.9518e+007 -1.2885e+006
5.3254e-007 1.5617e+008 1.7558e+008 7.7925e-007 3.7625e-007
2.1227e+008 2.8215e-006 4.8262e-007 1.2235e+007 2.3284e+008
Results: Force changes in pipes and cables
p
q
Results: pipe and cable radii (p,q = 5,3)
3.3659e-005 3.2952e-005 3.3348e-005 3.3192e-005 3.3132e-005
1.6998e-001 1.6998e-001 1.6998e-001 1.6998e-001 1.6998e-001
3.3651e-005 3.3886e-005 3.3615e-005 3.3666e-005 3.3754e-005
1.6239e-001 1.6239e-001 1.6239e-001 1.6239e-001 1.6239e-001
3.2380e-005 3.2575e-005 3.2523e-005 3.2579e-005 3.2610e-005
-----------------------------------------------------------------------------------------
6.5677e-005 8.6464e-005 1.0978e-004 1.1048e-004 7.0005e-005
2.2064e-001 2.2064e-001 2.2064e-001 2.2064e-001 2.2064e-001
2.5062e-005 2.5084e-005 2.5101e-005 2.5154e-005 2.5088e-005
2.7896e-001 2.7896e-001 2.7896e-001 2.7896e-001 2.7896e-001
---------------------------------------------------------------------------------2.7661e-001 2.7661e-001 2.7661e-001 2.7661e-001 2.7661e-001
4.4236e-001 4.4236e-001 4.4236e-001 4.4236e-001 4.4236e-001
0 0 0 0 0
)(Pri
3.3760e-001 2.8552e-001 1.8340e-004 3.0025e-001 1.7315e-001
1.6106e-001 1.6472e-001 1.5228e-001 1.4189e-001 1.4598e-001
2.1602e-004 2.4894e-004 2.6147e-001 3.5183e-001 3.3413e-004
1.5038e-001 1.5270e-001 1.3948e-001 1.5724e-001 1.5055e-001
1.6368e-004 2.0435e-004 2.5351e-004 2.4085e-004 2.3843e-004
--------------------------------------------------------------------------------------------
2.5131e-001 2.4063e-001 1.9530e-004 2.5813e-004 3.2450e-001
2.0945e-001 2.3022e-001 2.1733e-001 1.6557e-001 1.9925e-001
1.6017e-004 1.6967e-004 3.0392e-001 3.9007e-001 1.8130e-004
2.4124e-001 2.6609e-001 2.1981e-001 2.2919e-001 2.1412e-001
-----------------------------------------------------------------------------------------
6.6033e-001 2.5481e-004 2.8028e-001 1.9386e-004 3.5524e-001
7.0260e-001 5.8935e-001 5.9884e-001 3.0535e-001 3.7710e-001
0 0 0 0 0
0 50cable radii
)(Yris
3.3410e-002 3.3410e-002 3.3410e-002 3.3410e-002 3.3410e-002
4.3683e-002 4.3683e-002 4.3683e-002 4.3683e-002 4.3683e-002
2.6165e-002 2.6165e-002 2.6165e-002 2.6165e-002 2.6165e-002
3.7059e-002 3.7059e-002 3.7059e-002 3.7059e-002 3.7059e-002
1.0558e-009 1.2894e-009 1.1988e-009 1.2577e-009 1.3735e-009
4.7077e-002 4.7077e-002 4.7077e-002 4.7077e-002 4.7077e-002
-------------------------------------------------------------------------------------------
5.6693e-010 5.8044e-010 5.8616e-010 5.7424e-010 5.7403e-010
8.6760e-002 8.6760e-002 8.6760e-002 8.6760e-002 8.6760e-002
7.8502e-002 7.8502e-002 7.8502e-002 7.8502e-002 7.8502e-002
3.3490e-002 3.3490e-002 3.3490e-002 3.3490e-002 3.3490e-002
3.8491e-002 3.8491e-002 3.8491e-002 3.8491e-002 3.8491e-002
5.4849e-010 5.5827e-010 5.5843e-010 5.5352e-010 5.5604e-010
-----------------------------------------------------------------------------------------
1.2184e-001 1.2184e-001 1.2184e-001 1.2184e-001 1.2184e-001
3.5205e-010 4.1806e-010 4.5408e-010 4.1894e-010 3.5194e-010
1.2184e-001 1.2184e-001 1.2184e-001 1.2184e-001 1.2184e-001
3.5207e-010 5.0106e-010 5.0051e-010 3.4752e-010 2.0454e-010
1.0436e-009 8.6301e-010 7.4118e-010 8.6538e-010 1.0431e-009
4.9279e-002 6.0096e-002 3.5752e-002 2.1817e-002 2.2702e-008
5.6835e-002 1.8023e-008 1.3275e-008 4.5904e-002 3.8908e-002
2.0600e-008 4.3058e-002 5.3851e-002 5.7239e-002 2.2559e-008
8.3011e-004 5.1279e-008 2.9211e-002 2.6040e-008 1.9298e-002
3.2301e-002 1.4172e-008 2.1065e-008 2.3411e-008 4.2987e-002
5.7212e-002 5.7351e-002 3.0300e-002 1.2391e-002 3.3801e-002
-------------------------------------------------------------------------------------------
2.1103e-008 6.9157e-002 4.9229e-002 3.1402e-008 1.4539e-008
9.6403e-002 1.7975e-008 1.3329e-008 5.3928e-002 9.7369e-002
1.5337e-002 7.3516e-002 7.6723e-002 5.9621e-002 1.4038e-002
6.4868e-002 5.2621e-002 3.3937e-008 1.6360e-002 5.1177e-002
2.2315e-008 4.1615e-002 7.2260e-002 4.3636e-008 2.6526e-008
2.3513e-008 1.6741e-008 1.7544e-008 2.4513e-008 4.0461e-008
------------------------------------------------------------------------------------------
3.3458e-001 7.3204e-002 9.4319e-002 6.0642e-002 2.0096e-008
1.5183e-008 1.7795e-008 4.3285e-002 1.8239e-008 2.3273e-008
3.5479e-001 1.0279e-001 9.8204e-002 7.6428e-002 1.1938e-001
1.5678e-008 2.6841e-001 2.8461e-001 1.8963e-008 1.3176e-008
3.1293e-001 3.6088e-008 1.4940e-008 7.5130e-002 3.2774e-001
pipe radii
0 50
)(Pmi
2.1418e-004 2.0527e-004 2.1024e-004 2.0827e-004 2.0752e-004
1.1450e+003 1.1450e+003 1.1450e+003 1.1450e+003 1.1450e+003
1.9176e-004 1.9445e-004 1.9134e-004 1.9193e-004 1.9294e-004
1.1277e+003 1.1277e+003 1.1277e+003 1.1277e+003 1.1277e+003
2.1691e-004 2.1953e-004 2.1883e-004 2.1958e-004 2.1999e-004
------------------------------------------------------------------------------------------------
6.3415e-004 1.0991e-003 1.7718e-003 1.7945e-003 7.2048e-004
2.3179e+003 2.3179e+003 2.3179e+003 2.3179e+003 2.3179e+003
7.5771e-005 7.5901e-005 7.6003e-005 7.6327e-005 7.5923e-005
4.3997e+003 4.3997e+003 4.3997e+003 4.3997e+003 4.3997e+003
------------------------------------------------------------------------------------------------
6.6217e+003 6.6217e+003 6.6217e+003 6.6217e+003 6.6217e+003
1.7258e+004 1.7258e+004 1.7258e+004 1.7258e+004 1.7258e+004
0 0 0 0 0
2.1545e+004 1.5412e+004 6.3586e-003 1.7043e+004 5.6674e+003
1.0280e+003 1.0752e+003 9.1896e+002 7.9785e+002 8.4448e+002
7.9020e-003 1.0494e-002 1.1577e+004 2.0961e+004 1.8905e-002
9.6701e+002 9.9717e+002 8.3195e+002 1.0573e+003 9.6928e+002
5.5426e-003 8.6390e-003 1.3295e-002 1.2001e-002 1.1760e-002
---------------------------------------------------------------------------------------------
9.2851e+003 8.5125e+003 5.6072e-003 9.7956e-003 1.5480e+004
2.0890e+003 2.5238e+003 2.2489e+003 1.3054e+003 1.8905e+003
3.0947e-003 3.4728e-003 1.1142e+004 1.8355e+004 3.9652e-003
3.2903e+003 4.0031e+003 2.7317e+003 2.9700e+003 2.5923e+003
-----------------------------------------------------------------------------------3.7736e+004 5.6193e-003 6.7985e+003 3.2524e-003 1.0922e+004
4.3537e+004 3.0633e+004 3.1627e+004 8.2233e+003 1.2542e+004
0 0 0 0 0
Results: Pipe mass m(P) and cable mass m(Y)
)(Ymis
6.2111e+002 6.2111e+002 6.2111e+002 6.2111e+002 6.2111e+002
9.6679e+002 9.6679e+002 9.6679e+002 9.6679e+002 9.6679e+002
3.4686e+002 3.4686e+002 3.4686e+002 3.4686e+002 3.4686e+002
1.3829e+003 1.3829e+003 1.3829e+003 1.3829e+003 1.3829e+003
1.0097e-012 1.5060e-012 1.3017e-012 1.4329e-012 1.7089e-012
1.2332e+003 1.2332e+003 1.2332e+003 1.2332e+003 1.2332e+003
--------------------------------------------------------------------------------------------
1.4531e-013 1.5232e-013 1.5534e-013 1.4909e-013 1.4898e-013
2.9496e+003 2.9496e+003 2.9496e+003 2.9496e+003 2.9496e+003
2.4148e+003 2.4148e+003 2.4148e+003 2.4148e+003 2.4148e+003
5.0709e+002 5.0709e+002 5.0709e+002 5.0709e+002 5.0709e+002
1.1747e+003 1.1747e+003 1.1747e+003 1.1747e+003 1.1747e+003
1.9978e-013 2.0697e-013 2.0709e-013 2.0346e-013 2.0532e-013
--------------------------------------------------------------------------------------------
4.8568e+003 4.8568e+003 4.8568e+003 4.8568e+003 4.8568e+003
4.0056e-014 5.6486e-014 6.6640e-014 5.6722e-014 4.0031e-014
4.8568e+003 4.8568e+003 4.8568e+003 4.8568e+003 4.8568e+003
6.6127e-014 1.3393e-013 1.3364e-013 6.4427e-014 2.2320e-014
3.5200e-013 2.4071e-013 1.7755e-013 2.4203e-013 3.5162e-013
1.3513e+003 2.0096e+003 7.1125e+002 2.6486e+002 2.8678e-010
1.6366e+003 1.6458e-010 8.9286e-011 1.0676e+003 7.6696e+002
2.1499e-010 9.3933e+002 1.4692e+003 1.6599e+003 2.5784e-010
6.9386e-001 2.6477e-009 8.5920e+002 6.8279e-010 3.7501e+002
9.4508e+002 1.8192e-010 4.0195e-010 4.9647e-010 1.6738e+003
1.8213e+003 1.8302e+003 5.1087e+002 8.5432e+001 6.3573e+002
-------------------------------------------------------------------------------------------
2.0135e-010 2.1623e+003 1.0957e+003 4.4583e-010 9.5573e-011
3.6417e+003 1.2661e-010 6.9614e-011 1.1396e+003 3.7150e+003
9.2179e+001 2.1178e+003 2.3066e+003 1.3929e+003 7.7219e+001
1.9024e+003 1.2519e+003 5.2070e-010 1.2100e+002 1.1841e+003
3.9482e-010 1.3731e+003 4.1400e+003 1.5097e-009 5.5788e-010
3.6714e-010 1.8611e-010 2.0440e-010 3.9904e-010 1.0872e-009
---------------------------------------------------------------------------------------------
3.6624e+004 1.7532e+003 2.9104e+003 1.2031e+003 1.3212e-010
7.4507e-011 1.0234e-010 6.0554e+002 1.0751e-010 1.7505e-010
4.1182e+004 3.4570e+003 3.1551e+003 1.9110e+003 4.6624e+003
1.3112e-010 3.8434e+004 4.3212e+004 1.9184e-010 9.2619e-011
3.1649e+004 4.2091e-010 7.2134e-011 1.8242e+003 3.4716e+004
0 50
0current design 11e5 kg( 1200tons)m
005+2.9563e )( Yms005+1.0655e )( Yms
005+1.6435e)( Pmb005+3.7213e)( Pmb
005+2.7090e )( Pm 005+6.6776e )( Pm
Results: Mass (p,q = 5, 3)
Pipe mass = 3.72e5kg
Cable mass = 2.96e5kg
Total dish mass = 6.68e5kg
total
cable
pipe
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
N = [ n1 n2 n3 …………..n2b] : 3x2b
S = [ s1 s2 s3 …………ss] = NCsT : 3xs
B = [b1 b2 b3 ….bb] = NCbT : 3xb
W = [w1 w2 w3 …………w2b] : 3x2b
How to compute tensegrity equilibria?
1 if si terminates on node nj
Csij = -1 if si starts from node nj
0 if si touches not node njnj siwj
w1
w2 w3
bi
Connectivity matrix
C = [Cb, Cs]
N = [ n1 n2 n3 …………..n2b] : 3x2b
S = [ s1 s2 s3 …………ss] = NCsT : 3xs
B = [b1 b2 b3 ….bb] = NCbT : 3xb
W = [w1 w2 w3 …………w2b] : 3x2b
How to compute all equilibria?
nj
siwjw1
w2 w3
bi
b
T
s
T
ˆN
N
K= , ,
= ,
=NC
W
B
ˆ
S
C
T
b b
T
s s C CK C C All equilibria:
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
iii st iii bf
iiss tscYmi
)(iibb fbcYm
i)(
iibb fbcBmi
2)(
Ec b
b
2
Member force
2 2min
ˆˆsubject to
0, 0
i i i i
S B
i i
J b s
S C B C W
(Tensegrity Systems, 2009, pp.97-101,)
Member Mass(buckling)
b
bb
s
ss cc
,
(yielding)
iisiib scbcm 22
(if yielding is the mode of failure)
(string)(bar)
Bar Radiusb
ii
fYr
)(
Member Lengthisib (string)(bar)
How to minimize mass?
4/1
3
24
)(
b
ii
iE
fbBr
(yielding) (buckling)
-Hookean material and same steel for all members
-Optimization Problem
Failure by yield or buckling?
• failure by yielding
• failure by buckling2 2
2 2
1
modulus of Elasticity, bar material
maximal yield stress, bar material
f force appli
1
ed to bar
L=
/ (4
/
len
(4 )
gth
)
of bar
Ef L
E
Ef L
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
How to compute optimal complexity?(Optimization over (p,q))
0 50
Mod. DHT with Pipe 09.0 rri
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Why are tensegrity models reliable?
• Axially loaded members
– No material bending
• Simplest elements allow most accurate
models
– Cables and rods
• Math can by exploited to greater depth
because the math models are simple
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
?????? ????
??????
????
simply supported
cantilevered
tension
compression
Why is Tensegrity mass-efficent? (Optimal Material Topology for Primary BC are tensegrity)
qJ qq
q
)(
2/)(tan
tan
:solution
/1/1
/1/1
/1
Optimal Structures in BendingGiven:complexity = q(1+q)
specified length r0
specified aspect ratio ρ
external force u0(θ) (not in yellow)
(β,φ,q)
r0
(ρ, q) = (14, 8)
r0/ρ
b
Find:Minimal volume solution
topology (φ, β)
subject to yield constraints
θ
2β
u0
independent of u0 , θ. Why? (uni-directional member loads)
Minimal Material Volume
W
ln2),,(
hence,
ln2)]([),(
thatnote
]cos)2
1
2
1(sin)
2
1
2
1[(
)(
),,,(),(),,,,,(
/1/1
00
/1/1
00
WWV
qJ
urW
qJ
uWqJuqV
q
stress yieldstring
stress bar yield
(5,5)or )10,10(),(,01.1),(
),(
),(
),(
qif
V
qV
J
qJ
q = 15 q = 30 q = 60
Optimal Cantilever of complexity q=15, 30, 60
ln2)(
02/)(tan
1tan
:qfor Optimal
/1/1
/1/1
/1
qJ qq
q
Optimal Cantilever: optimized over complexity q
Given:complexity = q(1+q)
specified length r0
specified aspect ratio ρ
external force u0(θ) (not in yellow)
(β,φ,q)
r0
(ρ, q) = (14, 8)
r0/ρ
Find:Minimal volume solution
topology (φ, β)
subject to yield constraints
θ
2β
u0
f
Mass of Cantilever
Optimal Complexity q
Worse joints
(cheaper construction)qopt = 4
qopt = 10 qopt = ∞
Joint/compressive element
Mass fraction
no joint mass
complexity
ma
ss
Mass of components Mass of joints
1/ 1/( ) ( 1).q qJ q q q
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Why is tensegrity optimal tensile?Sticks and Strings for a Minimal Mass Tensile Material with
a stiffness constraint
Maximal stiffness:
Minimal mass: 0
0
9
Compressive material
Tensile material
Tensile structures: Designing cablesMinimal Mass with a stiffness constraint (=K)
L = q unitsp units
t/p
t/p t/pt/p
t/pt/p
2 21 1
2 2
3
1 1
2
2
tan
ta
3( ) ,
( ( ) )
1(
n
)3
s b
s s b
s s b
s s b
s s b s b
U qtk k U potential energy
L pL
m L
p LL
k k
t
t
K
K
qt
Control stiffness by bar length,
b=(tan)L/q
*
*
5/2 2
5/2
2
0
5/2
2 (1 2 ) tan (1 tan )
(1 tan ) ln 2 / 12 min{ , }
(1 tan ) /
2
[tan ( )]
n n
n
n s s
b b
s
s b
n
n
Efl
g
Why is tensegrity Optimal Compressive
Structure?
Replace this
with this
(repeat n times)
= Optimal complexity:
n* = 3 for e = 0.02(alum bars, spectra strings,
100# force, 3’ length, = 10o)
bar mass (n, a) string mass (n, a , f, E )
yieldbuckle
)(/)( omnm
)(om
α
f
f
f
f
planar case
α
α
Min Mass and Optimal Complexity
T-Bar compressive columns: constant width
Note:
Minimal mass by buckling
≤ minimal mass by yielding
Optimal complexity always
Finite unless:
e = 0 (massless strings)
failure by yielding
buckling force = yield force
Failure by buckling
mass
(n = complexity)
L/D = 10
Min Mass Pipe in Compression
(complexity n = 2 shown)
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Structural Systems and Control Laboratory
School of Engineering, UCSD
( d e g re e s ) (
d e g ree s )
Ov
erla
p h
(%
o
f s
ta
ge
h
eig
ht)
t = 0V e r t ic a l s t r in g s
O v e r la p = 1 0 0 %
O v e r lap = 0 %
9 00
Why Tensegrity uses less control power?
A(q)t = 0
AT(q)A(q) = 0
Equilibrium Region
(easily correct for mfg errors)
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Next: A mass lower bound for the telescope
(optimal without parabolic shape constraints)
33.6e+6N
Rigid
support/foundation
mass(q=15) = 1.40e+005Kg
mass(q=6) = 1.43e+005Kg
q = 15
F=33.6e+006N
Parabolic shape
constraint
Next: A mass lower bound for the telescope
(optimal without parabolic shape constraints)
Next: Optimal Cantilevered tensegrity as
telescope
Azimuth = 50 deg
Next: Optimal Cantilevered tensegrity as
telescope
Another telescope approachusing rigid Tensegrity Prisms
New (rigid) tensegrity flat plate
topology
Rigid Tensegrity Structures:the first tensegrity plate with no soft modes
New (rigid) tensegrity parabolic plate
Rigid Parabolic surfacefrom Class 1 Tensegrity Prisms
Parabolic Surface
Rigid Telescopefrom Tensegrity Prisms
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
Choosing Information Precision in Control
wDxMz
uBxCy
wDuBxAx
zp
ypp
ppppp
Plant:
Output:
Measurement:Measurement:
zDxCu
zBxAx
ccc
cccc
Controller G:
)(
00
00
00
)(
)(
)(
)(
)(
)(
,0
t
W
W
W
w
w
w
tw
tw
tw
E
w
w
w
E
p
s
a
T
p
s
a
p
s
a
p
s
a
1
1
0
0:
s
a
W
W$ ppT :
Sensor
Actuator
aw pw sw
Plant
simulation
Controller
zu
YyyE
UuuE
T
T
$$
Find $ and G such that
Example – precision allocation
3 outputs: velocity at r0, r2, r4 :
s/a1s/a2
0rs/a3
s/a4s/a5
s/a6
s/a7s/a8
r
L
),( tr
1r
2r
3r4r
5 torque actuators at r0, r1, r2, r3, r4.
3 force actuators at r1, r2, r3.
5 velocity sensors at r0, r1, r2, r3, r4.
3 displacement sensors at r1, r2, r3.
Consider an undamped simply supported beam with 10 degrees of freedoms.
Mode representation for each mode:
)(2 wubT
iiii 101i
idi icy
uy
Cxy
wMxz
DwwuBAxx
s
pa
2
1
)(
zDxCu
zBxAx
ccc
cccc
Controller G:
$ 1: trPW
IuuE
IyyE
T
T
min $
I30
s. t.r0 r1 r2 r3 r4
ActuatorsF 11.72 13.42 11.72
T 21.37 12.83 13.43 12.83 21.37
Sensorsq 2.195 13.35 2.195
1.544 0.475 0.802 0.475 1.544q
optimal precision distributionWhen = 1, = 0.1,
Example – precision allocation
Application
ESACS for a tensegrity boom
A linearized model is given and the input and output matrices can be determined
according to the sensor/actuator locations.
-500
50100
-500
50
0
50
100
150
200
250
300
350
22222222
16
15
9
5
10
8
55555
9999
21
3
888888
3333
9
5
20
11
5
2
4
4
1
6
3
4444444
18
14
4
1
6
17
13
6666666
12
7
6
11111
777
1
19
23
The bottom nodes are fixed. This structure
has 6 bars, 21 free strings, 6 free nodes.
External disturbance is applied to each node. The
control objective is to keep the top and bottom
surface parallel.
Initially, actuators and sensors are collocated on
each string.
Surface strings: #1 ~ #6
Diagonal strings: #7 ~ #12
Knuckle strings: #13 ~ #18
Reach strings: #19 ~ #21
Outline
• What?– What assumptions?
– What results?
• How?– How to compute tensegrity equilibria?
– How to compute minimal mass?
– How to compute optimal complexity?
• Why?– Why are tensegrity models reliable?
– Why do these structures yield minimal mass?
– Why are tensegrity structures more controllable with less power?
• Next?– Optimal tensegrity telescope (a new topology)
– Information architecture (What to measure? What cables to control?)
– Feedback control to maintain shape
F=50
mass minfor units 3/2/ DLn
L/D=10 n = 8 n = 8
n = 16
n = 1
n = 2
n = 4
Integrating Structure, Control, IA
F=50
= 8 for min mass (L/D=10), n = 4 for min control3/2/ DLn
n = 8
nc = 4
N(0, E-6)
N(0, 10)
E-2
optimum controller complexity
optimum structure complexity
Integrating Structure, Control, IA
Integrating Structure, Control, IA
F=50
= 8 for min mass (L/D=10) and for min control3/2/ DLn
n = 8
N(0, E-6)
N(0, 2xE-7)
N(0, 10)
E-2
nc = 8
Optimize sensor/actuator
precision
optimum structure complexity, and controller complexity
Class 1 Dynamics
b
T
bs
TCCCWNKMN sC K,
T
b
T
s
TT
bs
T NCBNCSBBLCCSWBL , , }M12
1)(
2
1{ 22 .
Desired shape
For some nodes unconstrained
nodesunconstrained
nodes
,Y LNR Y Y
Class 1 Controls
Choose controls to cause the shape error to satisfy a specified
stable linear equation, e.g.
0
b
T
bs
TCCCWNKMN sC K,
T
b
T
s
TT
bs
T NCBNCSBBLCCSWBL , , }m̂12
1)(
2
1{ 22
,Y LNR Y Y
Output Feedback Control
G11
w1
v1 u1
v2
u2+w2v3
u3+w3
Number of prisms = p
String control = ui, i = 1,2,…, 3p
Velocity = vi, i = 1,2,…, 3p
Actuator noise = wi = (0, Wi), i = 1,2,…, 3p
Decentralized Output Feedback
Control
TTTTT
p
SSBWBBWBBSBBSB
WWWdiagWSWG
Gyu
,0
),,,(),(2
1
,
321
qBy
wuBKqqM
T
)(
The control law
yields output covariance = [yyT]= BTB, which
minimizes the control energy [uTu].
Hardware
•3 strings equipped with piezoelectric actuator and sensor
3 ft
Linear actuatorForce sensor
Without controller
Resonance
reduced
30db with
integrator
controller
Vibration Isolation of Tensegrity
Tower