Analysis of clustered cable-actuation strategies of V-Expander tensegrity structures

This study presents an analysis method to design cable-actuated clustered V-Expander tensegrity elementary cells based on the nonlinear tensegrity statics. Clustered actuation takes advantage of the presence of cable elements in a tensegrity structure by allowing cables to run over frictionless joints. The study first provides the nonlinear static equations of clustered tensegrity structures. Then, it introduces the topology of V-Expander tensegrity elementary cells, which vary in complexity and aspect ratio. To achieve cable actuation, specific sets of cables are chosen from the complete pool of cables to serve as the active elements of V-Expander cells. During actuation, the length of these active cables decreases. The actuation efficiency of each specific choice of active cable is computed to find the optimal actuation strategy. The proposed approach can be utilized to analyze and design other types of cable-driven tensegrity structures, with applications to morphing structures and soft robots.