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Stiffness Optimization and Comparison of Tensile Trusses With Constant Envelope and Cable Material

[+] Author Affiliations
Michael P. Hennessey, Sameer Kumar, Temam M. Geletu

University of St. Thomas, St. Paul, MN

Paper No. DETC2014-34080, pp. V05AT08A083; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


We evaluate and compare the stiffness properties of 6 different configurations of tensile trusses. More specifically, given a constant structural envelope and amount of homogeneous isotropic linear elastic cable material, the stiffness properties of the configurations are analyzed with constant cross-sectional area cables. The configurations include: (1) a Stewart platform, (2) Stewart platform with full spine, 3 cable tie-offs, and slip joint, (3) 6-loop dual-reeved system with partial spine, (4) 4-node/4-loop dual-reeved system, (5) double Stewart platform, and (6) 3D extension of a 2D 2 cable system. In each case, we use analytical results for the evaluation of the stiffness matrix, with some new stiffness matrix results being presented. Of the 6 competing configurations considered, no one configuration was uniformly better than all others, but both the double Stewart platform and the Stewart platform with full spine, 3 cable tie-offs, and slip joint performed quite well, of course given free, massless, rigid body material.

Copyright © 2014 by ASME



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