Kinematics and dynamics of a planar tensegrity mechanism for ocean wave energy harvesting

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    Abstract

    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.

    Original languageEnglish
    Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
    Pages1015-1024
    Number of pages10
    EditionPARTS A AND B
    DOIs
    StatePublished - 2012
    EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
    Duration: 12 Aug 201212 Aug 2012

    Publication series

    NameProceedings of the ASME Design Engineering Technical Conference
    NumberPARTS A AND B
    Volume4

    Conference

    ConferenceASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
    Country/TerritoryUnited States
    CityChicago, IL
    Period12/08/1212/08/12

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