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[1] Pellegrino, S. (ed), Deployable Structures, International Center for Mechanical Sciences, CISM courses and lectures, 412, 2001.
[2] Gantes, C.J., Deployable Structures: Analysis and Design, WIT Press: Southampton, 2001.
[3] Hanaor, A., Tensegrity: Theory and Application. Beyond the Cube, ed. J.F. Gabriel, John Wiley & Sons, pp. 385–408, 1997.
[4] Tibert, G., Deployable Tensegrity Structures for Space Applications. Ph.D. Thesis, Royal Institute of Technology, Stockholm, pp. 1–30, 2002.
[5] Adam, B. & Smith, I.F.C., Active tensegrity: a control framework for an adaptive civil-engineering structure. Computers and Structures, 86(23–24), pp. 2215–2223, 2008. [Crossref]
[6] Arsenault, M. & Gosselin, C., Kinematic, static and dynamic analysis of a planar 1-dof tensegrity mechanism. Journal of Mechanical Design, 127(6), pp. 1152–1160, 2005. [Crossref]
[7] Arsenault, M. & Gosselin, C., Kinematic, static and dynamic analysis of a planar 2-dof tensegrity mechanism. Mechanism and Machine Theory, 41(9), pp. 1072–1089, 2006. [Crossref]
[8] Arsenault, M. & Gosselin, C., Kinematic, static and dynamic analysis of a spatial 3-DOF tensegrity mechanism. Journal of Mechanical Design, 128(5), pp. 1061–1069, 2006. [Crossref]
[9] Arsenault, M. & Gosselin, C., Kinematic and static analysis of a 3-PUPS spatial tenseg-rity mechanism. Mechanism and Machine Theory, 44(1), pp. 162–179, 2009. [Crossref]
[10] Bel Hadj Ali, N., Rhode-Barbarigos, L. & Smith, I.F.C., Analysis of clustered tenseg-rity structures using a modified dynamic relaxation algorithm. International Journal of Solids and Structures, 48(5), pp. 637–647, 2011. [Crossref]
[11] Moored, K.W., Kemp, T.H., Hole, N.E. & Bart-Smith, H., Analytical predictions, opti-mization and design of a tensegrity-based artificial pectoral fin. International Journal of Solids and Structures, 48(22–23), pp. 3142–3159, 2011. [Crossref]
[12] Rhode-Barbarigos, L., An Active Deployable Structure. Ph.D. Thesis, EPFL, Lausanne, 2012.
[13] Pinero, E.P., Project for mobile theatre. Architectural Design, 12(1), pp. 154–155, 1961.
[14] Escrig, F., Expandable space structures. International Journal of Space Structures, 1(2), pp. 79–91, 1985.
[15] Escrig, F. & Valcarcel, J.P., Curved expandable space grids. Proceedings of Interna-tional Conference on the Design and Construction of Non-Conventional Structures, London, pp. 157–168, 1987. [Crossref]
[16] Hoberman, C., Unfolding architecture: an object that is identically a structure and a mechanism. Architectural Design, 63(1), pp. 56–59, 1993.
[17] You, Z. & Pellegrino, S., Foldable bar structures. International Journal of Solids and Structures, 34(15), pp. 1825–1847, 1997. [Crossref]
[18] Akgün, Y., Gantes, C.J., Kalochairetis, K. & Kiper G., A novel concept of convertible roofs with high transformability consisting of planar scissor-hinge structures. Engineer-ing Structures, 32(9), pp. 2873–2883, 2010. [Crossref]
[19] Akgün, Y., Gantes, C.J., Sobek, W., Korkmaz, K. & Kalochairetis, K., A novel adaptive spatial scissor-hinge structural mechanism for convertible roofs. Engineering Struc-tures, 33(4), pp. 1365–1376, 2011. [Crossref]
[20] Phocas, M.C., Kontovourkis, O. & Matheou, M., Kinetic hybrid structure development and simulation. International Journal of Architectural Computing, 10(1), pp. 67–86, 2012. [Crossref]
[21] Christoforou, E.G., Mueller, A., Phocas, M.C., Matheou, M. & Arnos, S., Design and control concept for reconfigurable architecture. Journal of Mechanical Design, 137(4), p. 042302, 2015. [Crossref]
[22] Phocas, M.C., Christoforou, E.G. & Matheou, M., Design and motion planning of a reconfigurable hybrid structure. Engineering Structures, 101(29), pp. 376–385, 2015. [Crossref]
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Open Access
Research article

On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism

M. Matheou1,
M.C. Phocas1,
E.G. Christoforou2
1
Department of Architecture, University of Cyprus, Cyprus
2
Department of Electrical and Computer Engineering, University of Cyprus, Cyprus
International Journal of Computational Methods and Experimental Measurements
|
Volume 5, Issue 4, 2017
|
Pages 484-494
Received: N/A,
Revised: N/A,
Accepted: N/A,
Available online: N/A
View Full Article|Download PDF

Abstract:

Reconfigurable systems of hinge-connected beams strengthened through struts and continuous cables, utilize their morphology and cable active members through a synergetic process to enhance structural flexibility, stability and energy efficient transformability. The ‘effective 4-bar’ concept may be applied for the transformation of planar n-bar systems, using a sequence of 1–DOF motion steps through selec-tively locking (n-4) joints of the primary members and actuating the cables, in order to adjust the system’s joints to the desired values during the motion steps involved. The control system includes only two motion actuators located at the structural supports, as well as brakes installed on each individual joint. It performs the reconfiguration sequences through tensioning of one single cable at a time. A numerical investigation presented in the current paper involves four arch systems of 8, 9, 10 and 11-bar linkages with 60/90, 75/75 and 90/60 cm strut lengths on each side of the systems’ circumference. In their initial position, all arch systems have 5.0 m span and 5.35 m height following a quasi-vertical ellipsoid shape. The target configuration of the systems with 4.20 m height corresponds to a quasi-horizontal ellipsoid shape. Different reconfiguration sequences are investigated, in order to achieve the target configuration for each system. The comparative numerical analysis refers to the maximum stresses developed in the members and the required brake torques for each transformation. The analysis provides an insight into the hybrid structural morphology and mechanical characteristics of the mem-bers for optimal implementation of the reconfiguration approach.

Keywords: multiple bars linkage, motion planning, reconfigurable structures
Data Availability

The data used to support the findings of this study are available from the corresponding author upon request.

Conflicts of Interest

The authors declare that they have no conflicts of interest.

References
[1] Pellegrino, S. (ed), Deployable Structures, International Center for Mechanical Sciences, CISM courses and lectures, 412, 2001.
[2] Gantes, C.J., Deployable Structures: Analysis and Design, WIT Press: Southampton, 2001.
[3] Hanaor, A., Tensegrity: Theory and Application. Beyond the Cube, ed. J.F. Gabriel, John Wiley & Sons, pp. 385–408, 1997.
[4] Tibert, G., Deployable Tensegrity Structures for Space Applications. Ph.D. Thesis, Royal Institute of Technology, Stockholm, pp. 1–30, 2002.
[5] Adam, B. & Smith, I.F.C., Active tensegrity: a control framework for an adaptive civil-engineering structure. Computers and Structures, 86(23–24), pp. 2215–2223, 2008. [Crossref]
[6] Arsenault, M. & Gosselin, C., Kinematic, static and dynamic analysis of a planar 1-dof tensegrity mechanism. Journal of Mechanical Design, 127(6), pp. 1152–1160, 2005. [Crossref]
[7] Arsenault, M. & Gosselin, C., Kinematic, static and dynamic analysis of a planar 2-dof tensegrity mechanism. Mechanism and Machine Theory, 41(9), pp. 1072–1089, 2006. [Crossref]
[8] Arsenault, M. & Gosselin, C., Kinematic, static and dynamic analysis of a spatial 3-DOF tensegrity mechanism. Journal of Mechanical Design, 128(5), pp. 1061–1069, 2006. [Crossref]
[9] Arsenault, M. & Gosselin, C., Kinematic and static analysis of a 3-PUPS spatial tenseg-rity mechanism. Mechanism and Machine Theory, 44(1), pp. 162–179, 2009. [Crossref]
[10] Bel Hadj Ali, N., Rhode-Barbarigos, L. & Smith, I.F.C., Analysis of clustered tenseg-rity structures using a modified dynamic relaxation algorithm. International Journal of Solids and Structures, 48(5), pp. 637–647, 2011. [Crossref]
[11] Moored, K.W., Kemp, T.H., Hole, N.E. & Bart-Smith, H., Analytical predictions, opti-mization and design of a tensegrity-based artificial pectoral fin. International Journal of Solids and Structures, 48(22–23), pp. 3142–3159, 2011. [Crossref]
[12] Rhode-Barbarigos, L., An Active Deployable Structure. Ph.D. Thesis, EPFL, Lausanne, 2012.
[13] Pinero, E.P., Project for mobile theatre. Architectural Design, 12(1), pp. 154–155, 1961.
[14] Escrig, F., Expandable space structures. International Journal of Space Structures, 1(2), pp. 79–91, 1985.
[15] Escrig, F. & Valcarcel, J.P., Curved expandable space grids. Proceedings of Interna-tional Conference on the Design and Construction of Non-Conventional Structures, London, pp. 157–168, 1987. [Crossref]
[16] Hoberman, C., Unfolding architecture: an object that is identically a structure and a mechanism. Architectural Design, 63(1), pp. 56–59, 1993.
[17] You, Z. & Pellegrino, S., Foldable bar structures. International Journal of Solids and Structures, 34(15), pp. 1825–1847, 1997. [Crossref]
[18] Akgün, Y., Gantes, C.J., Kalochairetis, K. & Kiper G., A novel concept of convertible roofs with high transformability consisting of planar scissor-hinge structures. Engineer-ing Structures, 32(9), pp. 2873–2883, 2010. [Crossref]
[19] Akgün, Y., Gantes, C.J., Sobek, W., Korkmaz, K. & Kalochairetis, K., A novel adaptive spatial scissor-hinge structural mechanism for convertible roofs. Engineering Struc-tures, 33(4), pp. 1365–1376, 2011. [Crossref]
[20] Phocas, M.C., Kontovourkis, O. & Matheou, M., Kinetic hybrid structure development and simulation. International Journal of Architectural Computing, 10(1), pp. 67–86, 2012. [Crossref]
[21] Christoforou, E.G., Mueller, A., Phocas, M.C., Matheou, M. & Arnos, S., Design and control concept for reconfigurable architecture. Journal of Mechanical Design, 137(4), p. 042302, 2015. [Crossref]
[22] Phocas, M.C., Christoforou, E.G. & Matheou, M., Design and motion planning of a reconfigurable hybrid structure. Engineering Structures, 101(29), pp. 376–385, 2015. [Crossref]
Cite this:
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Matheou, M., Phocas, M. C., & Christoforou, E. G. (2017). On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism. Int. J. Comput. Methods Exp. Meas., 5(4), 484-494. https://doi.org/10.2495/CMEM-V5-N4-484-494
M. Matheou, M. C. Phocas, and E. G. Christoforou, "On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism," Int. J. Comput. Methods Exp. Meas., vol. 5, no. 4, pp. 484-494, 2017. https://doi.org/10.2495/CMEM-V5-N4-484-494
@research-article{Matheou2017OnTM,
title={On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism},
author={M. Matheou and M.C. Phocas and E.G. Christoforou},
journal={International Journal of Computational Methods and Experimental Measurements},
year={2017},
page={484-494},
doi={https://doi.org/10.2495/CMEM-V5-N4-484-494}
}
M. Matheou, et al. "On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism." International Journal of Computational Methods and Experimental Measurements, v 5, pp 484-494. doi: https://doi.org/10.2495/CMEM-V5-N4-484-494
M. Matheou, M.C. Phocas and E.G. Christoforou. "On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism." International Journal of Computational Methods and Experimental Measurements, 5, (2017): 484-494. doi: https://doi.org/10.2495/CMEM-V5-N4-484-494
MATHEOU M， PHOCAS M C， CHRISTOFOROU E G. On the Morphology of Reconfigurable Hybrid Structures Based on the Effective 4-Bar Mechanism[J]. International Journal of Computational Methods and Experimental Measurements， 2017， 5(4)： 484-494. https://doi.org/10.2495/CMEM-V5-N4-484-494