Deployment of a class 2 tensegrity boom

Abstract

Tensegrity structures are special truss structures composed of bars in compression and cables in tension. Most tensegrity structures under investigation, to date, have been of <i>Class 1</i>, where bars do not touch. In this article, however, we demonstrate the hardware implementation of a 2 stage symmetric <i>Class 2</i> tensegrity structure, where bars do connect to each other at a pivot. The open loop control law for tendon lengths to accomplish the desired geometric reconfiguration are computed analytically. The velocity of the structure's height is chosen and reconfiguration is accomplished in a quasi-static manner, ignoring dynamic effects. The main goal of this research was to design, build, and test the capabilities of the Class 2 structure for deployment concepts and to further explore the possibilities of multiple stage structures using the same design and components.