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Kinematics and Dynamics of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

[+] Author Affiliations
Rafael E. Vasquez, Julio C. Correa

Universidad Pontificia Bolivariana, Medellín, Colombia

Carl D. Crane, III

University of Florida, Gainesville, FL

Paper No. DETC2012-70320, pp. 1015-1024; 10 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


Tensegrity systems have been used in several disciplines such as architecture, biology, aerospace, mechanics and robotics during the last fifty years. However, just a few references in literature have stated the possibility of using tensegrity systems in ocean or energy-related applications. This work addresses the kinematic and dynamic analyses of a planar tensegrity mechanism for ocean wave energy harvesting. A planar tensegrity mechanism is proposed based on a planar morphology known as “X-frame” that was developed by Kenneth Snelson in 1960s. A geometric approach is used to solve the forward and reverse displacement problems. The theory of screws is used to perform the forward and reverse velocity analyses of the device. The Lagrangian approach is used to deduce the equations of motion considering the interaction between the mechanism and a linear model of ocean waves. The result shows that tensegrity systems could play an important role in the expansion of clean energy technologies that help the world’s sustainable development.

Copyright © 2012 by ASME



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