On the Geometrically Nonlinear Elastic Response of Class θ = 1 Tensegrity Prisms

Abstract

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The present work studies the geometrically nonlinear response of class θ = 1 tensegrity prisms modeled as a collection of elastic springs reacting in tension (strings or cables) or compression (bars), under uniform uniaxial loading. The incremental equilibrium equations of the structure are numerically solved through a path-following procedure, with the aim of modeling the mechanical behavior of the structure in the large displacement regime. Several numerical results are presented with reference to a variety of physical models, which use two different materials for the cables and the bars, and show different aspect ratios associated with either “standard” or “expanded” configurations. An experimental validation of the predicted constitutive response is conducted with reference to a “thick” and a “slender” model, observing rather good theory vs. experiment matching. The given numerical and experimental results highlight that the elastic response of the examined structures may switch from stiffening to softening, depending on the geometry of the system, the magnitude of the external load, and the applied prestress. The outcomes of the current study confirm previous literature results on the elastic response of minimal tensegrity prisms, and pave the way to the use of tensegrity systems as nonlinear spring units forming tunable mechanical metamaterials.

Keywords

• class θ tensegrity prisms
• large displacements
• path-following
• elastic softening
• elastic stiffening
• mechanical metamaterials