Authors: Harrison Denning, Spencer Thompson
Mentors: Jeff Hill
Insitution: Brigham Young University
Traditionally, tensegrity structures have been a subject of interest for their architectural beauty and high strength-to-weight advantage. The field of tensegrity research has since grown to include robots and more complex latticed structures. More recently, tensegrity has been used to accurately model many biological systems, such as joints and spines. Part of this modeling has involved trying to better estimate these biological systems utilizing bi-stable and multi-stiffness tensegrity structures. Our research takes a closer look at how to build and optimize bi-stable tensegrity structures with multiple stiffness modes. By optimizing tensegrity geometry or spring-cable connections between rigid members it is possible to significantly change the models’ overall equivalent stiffness between stable modes. Our research delves into how changes in the shape of rigid members create differences in overall structure geometry between stable modes and a change in stiffness between the two modes. We also discuss optimal spring cable connections and optimal individual spring constants to further increase stiffness differences between stable positions. Furtherance of this work will involve building larger and more robust models to be used on the body as wearable structures. The application of this research heads towards the development of wearable tensegrity braces with the ability to switch between higher or lower stiffnesses to cater to the needs of the wearer.