Tensegrity systems have been used in several disciplines such as architecture, biology, aerospace, mechanics, and robotics during the last 50 years. However, just a few references in literature have stated the possibility of using such systems in ocean or energy-related applications. This work addresses the kinematic and dynamic analyses of a planar tensegrity mechanism for ocean wave energy harvesting. Ocean wave mechanics and the most important concepts related to fluid–structure interaction are presented. Then, a planar 3 degrees of freedom (3-dof) tensegrity mechanism, based on a morphology defined by Kenneth Snelson in 1960 which is known as “X-frame,” is proposed as connecting linkage to transmit wave-generated forces. A geometric approach is used to solve the forward and reverse displacement problems. The theory of screws is used to perform the forward and reverse velocity analyses of the device. The Lagrangian approach is used to deduce the equations of motion considering the interaction between the mechanism and ocean waves. The tensegrity-based mechanism is analyzed using a linear model of ocean waves and its energy harvesting capabilities are compared to a purely heaving device. Results show that the proposed tensegrity configuration allows to harvest 10% more energy than the traditional heaving mechanism used in several wave energy harvesting applications. Therefore, tensegrity systems could play an important role in the expansion of clean energy technologies that help the world's sustainable development.
Skip Nav Destination
Article navigation
August 2014
Research-Article
Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting
Rafael E. Vasquez,
Rafael E. Vasquez
1
Professor
Mem. ASME
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Medellín,
e-mail: rafael.vasquez@upb.edu.co
Mem. ASME
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Universidad Pontificia Bolivariana
,Circular 1 No. 70–01
,Medellín,
Colombia
e-mail: rafael.vasquez@upb.edu.co
1Corresponding author.
Search for other works by this author on:
Carl D. Crane,, III,
Carl D. Crane,, III
Professor
Fellow ASME
Department of Mechanical
and Aerospace Engineering,
e-mail: carl.crane@gmail.com
Fellow ASME
Department of Mechanical
and Aerospace Engineering,
University of Florida
,Gainesville, FL 32611
e-mail: carl.crane@gmail.com
Search for other works by this author on:
Julio C. Correa
Julio C. Correa
Professor
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Medellín,
e-mail: julio.correa@upb.edu.co
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Universidad Pontificia Bolivariana
,Circular 1 No. 70–01
,Medellín,
Colombia
e-mail: julio.correa@upb.edu.co
Search for other works by this author on:
Rafael E. Vasquez
Professor
Mem. ASME
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Medellín,
e-mail: rafael.vasquez@upb.edu.co
Mem. ASME
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Universidad Pontificia Bolivariana
,Circular 1 No. 70–01
,Medellín,
Colombia
e-mail: rafael.vasquez@upb.edu.co
Carl D. Crane,, III
Professor
Fellow ASME
Department of Mechanical
and Aerospace Engineering,
e-mail: carl.crane@gmail.com
Fellow ASME
Department of Mechanical
and Aerospace Engineering,
University of Florida
,Gainesville, FL 32611
e-mail: carl.crane@gmail.com
Julio C. Correa
Professor
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Medellín,
e-mail: julio.correa@upb.edu.co
Grupo de Automática y Diseño A+D,
Escuela de Ingenierías,
Universidad Pontificia Bolivariana
,Circular 1 No. 70–01
,Medellín,
Colombia
e-mail: julio.correa@upb.edu.co
1Corresponding author.
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 21, 2013; final manuscript received March 29, 2014; published online June 17, 2014. Assoc. Editor: J. M. Selig.
J. Mechanisms Robotics. Aug 2014, 6(3): 031015 (12 pages)
Published Online: June 17, 2014
Article history
Received:
October 21, 2013
Revision Received:
March 29, 2014
Citation
Vasquez, R. E., Crane,, C. D., III, and Correa, J. C. (June 17, 2014). "Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting." ASME. J. Mechanisms Robotics. August 2014; 6(3): 031015. https://doi.org/10.1115/1.4027703
Download citation file:
Get Email Alerts
Cited By
Modeling and verification for a 3-DOF flexure-based planar parallel micro manipulator
J. Mechanisms Robotics
Related Articles
Modeling and Design Exploration of a Tensegrity-Based Twisting Wing
J. Mechanisms Robotics (June,2021)
Kinematic, Static, and Dynamic Analysis of a Spatial Three-Degree-of-Freedom Tensegrity Mechanism
J. Mech. Des (September,2006)
Kinematic, Static, and Dynamic Analysis of a Planar One-Degree-of-Freedom Tensegrity Mechanism
J. Mech. Des (November,2005)
Oscillating Wave Surge Converter-Type Attachment for Extracting Wave Energy While Reducing Hydroelastic Responses of Very Large Floating Structures
J. Offshore Mech. Arct. Eng (August,2020)
Related Proceedings Papers
Related Chapters
Hydro Power Generation: Global and US Perspective
Energy and Power Generation Handbook: Established and Emerging Technologies
Challenges and Opportunities in Tidal and Wave Power
Energy and Power Generation Handbook: Established and Emerging Technologies
Dynamics of Rigid Bodies: Analytical Approach
Dynamics of Particles and Rigid Bodies: A Self-Learning Approach