| dc.description.abstract | In an effort to expand the breadth of tensegrity geometries, novel discrete toroidal topologies
are developed, analyzed and presented. The scope of this thesis encompasses the complete design formulation of the connectivity of these structures, computation of the static equilibrium equations to confirm the pre-stressability, dynamic analysis of the steady-state rolling of the three bar wheel, and the examination of the 3D Michell truss force distribution and minimum material volume under a single bending load. The major contributions of this work are the design of a new tensegrity toroid, based on a basic three-bar prism, and the extension of the planar Michell truss into three dimensional space. Mechanical analysis of these new structures is performed using a comprehensive software package which solves for the static and dynamic equations under the assumptions of tensegrity mechanics. The results demonstrate the new toroid is stable under pre-stress and models a continuum toroid as the complexity of the structure reaches infinity. The new 3D Michell topology is also stiff and may be designed to resist bending loads with minimum material volume. The design and analysis of these new structures forms the foundation further research into practical application can build upon. | en |
