Lagrange equation of motion for tensegrity

Click For Summary
SUMMARY

The discussion centers on implementing a tensegrity actuated system based on the paper “Dynamic equations of motion for a 3-bar tensegrity based mobile robot.” The user seeks clarity on calculating velocity and acceleration for the Euler-Lagrange equations of motion, as well as how to apply Runge-Kutta integration for updating the system's pose. Key challenges include understanding the kinetic and potential energy calculations and the virtual work involved in the tensegrity structure's dynamics.

PREREQUISITES
  • Understanding of Lagrangian mechanics and Euler-Lagrange equations
  • Familiarity with tensegrity structures and their dynamics
  • Knowledge of kinetic and potential energy calculations in mechanical systems
  • Proficiency in numerical methods, specifically Runge-Kutta integration
NEXT STEPS
  • Study the derivation and application of Euler-Lagrange equations in mechanical systems
  • Learn about calculating kinetic and potential energy for tensegrity systems
  • Research the implementation of Runge-Kutta methods in dynamic simulations
  • Explore existing software tools for simulating tensegrity structures, such as MATLAB or Python libraries
USEFUL FOR

Researchers, engineers, and students involved in robotics, structural engineering, and dynamic systems modeling, particularly those focused on tensegrity structures and their motion dynamics.

GeorgeL
Messages
1
Reaction score
0
Hi,
I have read this paper “Dynamic equations of motion for a 3-bar tensegrity based mobile robot” (1) and this one “Dynamic Simulation of Six-strut Tensegrity Robot Rolling”.

1) http://digital.csic.es/bitstream/10261/30336/1/Dynamic equations.pdf

I am trying to implement a tensegrity, actuated system following the first paper, but I came at a point that I calculate the Kinetic Energy, Potential Energy and virtual work of the system. I have to update the pose of each bar.

The paper gives me the equation of motion (Euler-Lagrange) but uses the velocity and acceleration that i don’t know how to calculate. It says at the end about using Runge-Kutta integration but I don’t understand how I will define them in the first place or how i will proceed. I cannot understand how it’s updating the positions for the tensegrity to move.

Thank you
 
Physics news on Phys.org

Similar threads

Graduate To get rid of a singularity in the Lagrange equations
  • · Replies 11 ·
Replies
11
Views
1K
Graduate Hamilton's Method with Lagrange Equation and Constraint
  • · Replies 1 ·
Replies
1
Views
1K
Graduate Lagrangian to the Euler-Lagrange equation
  • · Replies 1 ·
Replies
1
Views
2K
Undergrad How to find the equation of motion using Lagrange's equation?
  • · Replies 13 ·
Replies
13
Views
3K
Graduate The Lagrange–d'Alembert principle for rigid bodies
  • · Replies 1 ·
Replies
1
Views
2K
Undergrad Runge-Kutta 4 w/ some sugar on the top: How to do error approximation?
  • · Replies 65 ·
3
Replies
65
Views
9K
Undergrad Can Any Quantifiable Variable Serve as a Coordinate in Euler-Lagrange Equations?
  • · Replies 5 ·
Replies
5
Views
2K
Equivalence of Euler-Lagrange equations and Cardinal Equations for a rigid planar system
  • · Replies 4 ·
Replies
4
Views
2K
Graduate Lagrange Equations of Motion for a particle in a vessel
  • · Replies 2 ·
Replies
2
Views
2K
Undergrad Action in Lagrangian Mechanics
  • · Replies 5 ·
Replies
5
Views
2K