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Avila, E., (2023). Design and investigations on soft tensegrity structures with magnetic actuation [Pontificia Universidad Católica del Perú]. http://hdl.handle.net/20.500.12404/25815
Avila, E., Design and investigations on soft tensegrity structures with magnetic actuation []. PE: Pontificia Universidad Católica del Perú; 2023. http://hdl.handle.net/20.500.12404/25815
@mastersthesis{renati/1656338,
title = "Design and investigations on soft tensegrity structures with magnetic actuation",
author = "Avila Mañuico, Eder Jhoel",
publisher = "Pontificia Universidad Católica del Perú",
year = "2023"
}
Title: Design and investigations on soft tensegrity structures with magnetic actuation
Authors(s): Avila Mañuico, Eder Jhoel
Advisor(s): Rodriguez Hernandez, Jorge Antonio
Keywords: Estructuras de tensegridad; Mecanismos (Maquinaria)--Diseño y construcción; Movimientos mecánicos
OCDE field: https://purl.org/pe-repo/ocde/ford#2.03.01
Issue Date: 31-Aug-2023
Institution: Pontificia Universidad Católica del Perú
Abstract: Las estructuras de tensegridad suave están compuestas por elementos flexibles de
elastómeros, que cumplen las funciones de piezas de tensión y compresión. También es
posible tener elementos elastómeros que se vean afectados por fuerzas magnéticas, al
añadir partículas ferromagnéticas a su composición. Esto abre la posibilidad de accionar
una estructura de tensegridad blanda a través de fuerzas magnéticas que pueden afectar
algunas partes de la misma. La presente tesis desarrolló un prototipo de mecanismo para
accionar magnéticamente una estructura lineal de tensegridad blanda.
Para lograr este movimiento, en primer lugar, se propuso un movimiento oscilante angular
para una estructura de tensegridad lineal, y se estableció la configuración de los
elementos de tensión pretensados. A continuación, también se explica en detalle el
proceso de fabricación, teniendo en cuenta los cálculos por lotes, las consideraciones del
molde y los pasos individuales de la fabricación de elementos de elastómero. Finalmente,
se diseñó un mecanismo impulsor para accionar la estructura de tensegridad suave, y
también se consideraron los cálculos cinemáticos del mecanismo.
Soft tensegrity structures are composed of compliant elastomer elements that fulfill the roles of tension and compression parts. It is also possible to have elastomer elements that are affected by magnetic forces by adding ferromagnetic particles to their composition. This opens up the possibility to actuate a soft tensegrity structure through magnetic forces that can affect some parts of it. The current thesis developed a mechanism prototype to actuate magnetically a linear soft tensegrity structure. To achieve this actuated movement, first, an angular oscillating movement was proposed for a linear tensegrity structure, and the pre-stressed configuration of tension elements was established. Next, the fabrication process is also explained in detail, considering batch calculations, mold considerations, and the individual steps of the elastomer element fabrications. Finally, a driver mechanism was designed to actuate the soft tensegrity structure, and the kinematic calculations of the mechanism were also considered.
Soft tensegrity structures are composed of compliant elastomer elements that fulfill the roles of tension and compression parts. It is also possible to have elastomer elements that are affected by magnetic forces by adding ferromagnetic particles to their composition. This opens up the possibility to actuate a soft tensegrity structure through magnetic forces that can affect some parts of it. The current thesis developed a mechanism prototype to actuate magnetically a linear soft tensegrity structure. To achieve this actuated movement, first, an angular oscillating movement was proposed for a linear tensegrity structure, and the pre-stressed configuration of tension elements was established. Next, the fabrication process is also explained in detail, considering batch calculations, mold considerations, and the individual steps of the elastomer element fabrications. Finally, a driver mechanism was designed to actuate the soft tensegrity structure, and the kinematic calculations of the mechanism were also considered.
Link to repository: http://hdl.handle.net/20.500.12404/25815
Discipline: Ingeniería Mecánica; Ingeniería Mecánica
Grade or title grantor: Pontificia Universidad Católica del Perú. Escuela de Posgrado.
Grade or title: Maestro en Ingeniería Mecánica; Maestro en Ingeniería Mecánica
Juror: Alencastre Miranda, Jorge Hernán; Rodriguez Hernandez, Jorge Antonio; Barriga Gamarra, Eliseo Benjamin
Register date: 31-Aug-2023
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