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A Lagrangian Method for Constrained Dynamics in Tensegrity Systems with Compressible Bars

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Document pages: 29 pages

Abstract: This paper presents a Lagrangian approach to simulating multibody dynamics ina tensegrity framework with an ability to tackle holonomic constraintviolations in an energy-preserving scheme. Governing equations are describedusing non-minimum coordinates to simplify descriptions of the structure skinematics. To minimize constraint drift arising from this redundant system,the direct correction method has been employed in conjunction with a novelenergy-correcting scheme that treats the total mechanical energy of the systemas a supplementary constraint. The formulation has been extended to allowtensegrity structures with compressible bars, allowing for further discussionon potential choices for softer bar materials. The benchmark example involvinga common tensegrity structure demonstrates the superiority of the presentedformulation over Simscape Multibody in terms of motion accuracy as well asenergy conservation. The effectiveness of the energy correction scheme is foundto be increasing with the extent of deformations in the structure.

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