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4 CONCLUSIONS
This paper deals with the use of a multistable compli-
ant tensegrity structure for the application in a craw-
ling motion system. Most of the known crawling mo-
tion system allow only a one-way motion or requires
advanced demands to the operating actuator in order
to realize a bidirectional uniaxial motion. In this pa-
per a crawling motion system basing on a multistable
tensegrity structure is modeled. The tensegrity struc-
ture enables multiple stable equilibrium configurati-
ons and is in contact to horizontal plane due to gravity.
As consequence of the acting gravitational forces the
application of certain equilibrium states initiates a til-
ting sequence. Hence, the mode of the entire motion
system is changing. Moreover, total different dynami-
cal properties result for the identical actuation of the
system. Transient simulations are evaluated for se-
lected parameter values of the tensegrity structure and
the steady state solution which assumed after 1000
actuation periods is considered. The motion behavior
which is characterized by the steady state velocity is
analyzed for the different equilibrium configurations
as initial state and diverse friction properties. The re-
sults confirm that a feasible control of the direction
of motion occurs utilizing the given multistability of
the tensegrity structure. At total, these investigations
show that, indeed, a bidirectional uniaxial motion can
be realized by the use of only one actuator with a se-
lected excitation frequency.
However, for a significant parameter range a
change into an additional equilibrium state occurs.
Because of the corresponding low potential energy,
a reverse change into another equilibrium state seems
to be difficult. Hence, after the occurrence of this cri-
tical state the motion system cannot be used anymore.
Therefore, a prototype should be equipped with safe-
guards like mechanical stops which prohibt a change
into that critical equilibrium state.
Moreover, the authors target the development of a
prototype as well as the experimental validation of the
theoretical results shown in this paper.
ACKNOWLEDGEMENTS
This work is supported by the Deutsche Forschungs-
gemeinschaft (DFG project BO4114/2-1).
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