Multi-Mode Motion System Based on a Multistable Tensegrity Structure

P. Schorr, V. Böhm, G. Stépán, L. Zentner, K. Zimmermann

Research output: Chapter


This paper presents a multi-mode motion system based on a compliant tensegrity structure with multiple stable equilibrium configurations. The motion system is in contact to an arbitrarily shaped rigid ground due to gravity. The movement is realized by changing successively between different equilibrium states. Depending on the strategy of changing the equilibrium configuration, different motion types occur. The reachable area of the motion system can be enlarged by adapting the motion type depending on the given environmental characteristics. Furthermore, the efficiency of the motion can be improved by choosing the most suitable motion mode. Theoretical studies regarding the change of the equilibrium states are introduced. Moreover, simulation results for the different motion modes tilting, vibration driven and jumping are illustrated. The resulting motion characteristics emphasize the advantageous adaptability of the motion system regarding to varying environmental conditions.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
PublisherSpringer Netherlands
Number of pages10
Publication statusPublished - jan. 1 2019

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Schorr, P., Böhm, V., Stépán, G., Zentner, L., & Zimmermann, K. (2019). Multi-Mode Motion System Based on a Multistable Tensegrity Structure. In Mechanisms and Machine Science (pp. 3007-3016). (Mechanisms and Machine Science; Vol. 73). Springer Netherlands.