Valter Böhm
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Valter Böhm has a total of 17 co-authors. Here are the top co-authors by number of shared publications:
- Lena Zentner
Technische Universität Ilmenau
2 shared publications - Enrique Roberto Carrillo Li
Pontificia Universidad Catlica del Per,Department of Art and Design,Lima,Per
1 shared publication - Hannes Jahn
Technische Universität Ilmenau
1 shared publication J.-H. Chavez-Vega
OTH Regensburg
1 shared publication- Jorge Antonio Rodriguez Hernandez
Applied Mechanics, Machines and Mechanisms Research Group - Mechanical Engineering Section - Department of Engineering, Pontifical Catholic University of Peru, San Miguel, Peru
1 shared publication K. Zimmermann
TU Ilmenau
1 shared publication
Latest Publications
- Open Access
- 12 June 2024
- Published by Springer Nature in Meccanica
- Vol. 59 (9) , 1369-1380
Analysis of deformation in tensegrity structures with curved compressed members
Tensegrity structures are prestressed structures consisting of compressed members connected by prestressed tensioned members. Due to their properties, such as flexibility and lightness, mobile robots based on these structures are an attractive subject of research and are suitable for space applications. In this work, a mobile robot based on a tensegrity structure with two curved members connected by eight tensioned strings is analyzed in terms of deformation in the curved members. Further, the difference in locomotion trajectory between the undeformed and deformed structure after the prestress is analyzed. For that, the theory of large deflections of rod-like structures is used. To determine the relationship between acting forces and the deformation, the structure is optimized using minimization algorithms in Python. The results are validated by parameter studies in FEM. The analysis shows that the distance between the two curved members significantly influences the structure’s locomotion. It can be said that the deformation of the components significantly influences the locomotion of tensegrity structures and should be considered when analyzing highly compliant structures.
- 12 June 2024
- Published by Springer Nature in Meccanica
- Vol. 59 (9) , 1369-1380
Open AccessAnalysis of deformation in tensegrity structures with curved compressed members
Tensegrity structures are prestressed structures consisting of compressed members connected by prestressed tensioned members. Due to their properties, such as flexibility and lightness, mobile robots based on these structures are an attractive subject of research and are suitable for space applications. In this work, a mobile robot based on a tensegrity structure with two curved members connected by eight tensioned strings is analyzed in terms of deformation in the curved members. Further, the difference in locomotion trajectory between the undeformed and deformed structure after the prestress is analyzed. For that, the theory of large deflections of rod-like structures is used. To determine the relationship between acting forces and the deformation, the structure is optimized using minimization algorithms in Python. The results are validated by parameter studies in FEM. The analysis shows that the distance between the two curved members significantly influences the structure’s locomotion. It can be said that the deformation of the components significantly influences the locomotion of tensegrity structures and should be considered when analyzing highly compliant structures.
- 21 August 2020
- Published by Springer Nature
- p. 470-478
An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures
- 21 August 2020
- Published by Springer Nature
- p. 470-478
An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures
- Open Access
- 14 July 2020
- Published by Springer Nature in Meccanica
- Vol. 56 (4) , 953-961
Kinematic analysis of a rolling tensegrity structure with spatially curved members
In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion.
- 14 July 2020
- Published by Springer Nature in Meccanica
- Vol. 56 (4) , 953-961
Open AccessKinematic analysis of a rolling tensegrity structure with spatially curved members
In this work, a tensegrity structure with spatially curved members is applied as rolling locomotion system. The actuation of the structure allows a variation of the originally cylindrical shape to a conical shape. Moreover, the structure is equipped with internal movable masses to control the position of the center of mass of the structure. To control the locomotion system a reliable actuation strategy is required. Therefore, the kinematics of the system considering the nonholonomic constraints are derived in this paper. Based on the resulting insight in the locomotion behavior a feasible actuation strategy is designed to control the trajectory of the system. To verify this approach kinematic analyses are evaluated numerically. The simulation data confirm the path following due to an appropriate shape change of the tensegrity structure. Thus, this system enables a two-dimensional rolling locomotion.