Distributed System of Mobile Passive Tensegrity Structures

A study on the application of spherical tensegrity structures to a passively mobile tumbleweed-like concept was developed and tested. Parameterized sizing tools were developed to understand environmental and geometrical sensitivities and maintain the ability to apply the concept to various environments. The sensitivity studies were then used to inform the design, and then a prototype model for an Earth environment was built to correlate the sizing tool outputs with experimental data. This prototype underwent testing in order to understand performance of the structure in more controlled (wind tunnel testing) environments and more realistic (field testing) environments. This paper will describe the design derivation and sensitivity studies performed along with the test results of the prototype structure.