Operational Energy Analysis of Adaptive Multistable Tensegrity with Internal Actuators

Abstract

Adaptive structures are able to autonomously adjust their morphology through the actuators to adapt to external conditions, offering material and energy efficiency. The multistable tensegrity structure is very suitable for adaptive structures due to its light weight and multiple stable states. However, the operational energy required during their stable state transformation (SST) remains insufficiently studied. This paper proposes an operational energy analysis method for adaptive multistable tensegrity structures with internal actuators. First, a form-finding method for tensegrity structures with internal actuators is introduced. Next, an actuation strategy consisting of linear working and recovery stages is designed, and the continuous actuation process is discretized into multiple small steps. By performing form-finding multiple times for each substep, the tracking of the multistable tensegrity structures during the actuation process is realized. The operational energy of the internal actuator is calculated per step and summed to obtain the total operational energy during actuation process. Three numerical examples validate the method and identify a minimal-energy actuation strategy, i.e., actuation threshold. Further analysis reveals the differences between internal and external actuation, as well as the influence of the prestress level on the actuation threshold and operational energy. The results provide theoretical and technical support for actuation strategy optimization and energy efficiency evaluation in adaptive multistable tensegrity structures.