Abstract
A tensegrity-based water wave energy harvester is proposed. The direct and inverse kinematic problems are investigated by using a geometric method. Afterwards, the singularities and workspaces are discussed. Then, the Lagrangian method was used to develop the dynamic model considering the interaction between the harvester and water waves. The results indicate that the proposed harvester allows harvesting 13.59% more energy than a conventional heaving system. Therefore, tensegrity systems can be viewed as one alternative solution to conventional water wave energy harvesting systems.
Highlights
IntroductionTensegrity systems are formed by a combination of rigid elements (struts) under compression and elastic elements (cables or springs) under tension
Tensegrity systems are formed by a combination of rigid elements under compression and elastic elements under tension
The first research work that deals with tensegrity systems was completed by Calladine [3]
Summary
Tensegrity systems are formed by a combination of rigid elements (struts) under compression and elastic elements (cables or springs) under tension. The use of cables or springs as tensile components leads to an important reduction in the weight of the systems Due to this attractive nature, tensegrity systems have been proposed to be used in many disciplines. Vasquez et al [34] stated the possibility of using a planar tensegrity mechanism in ocean applications This application is attractive since it can play an important role in the expansion of clean energy technologies that help the world’s sustainable development. This work presents the analysis of a tensegrity-based water wave energy harvester. Since this is the first stage for the development of a new application for tensegrity systems, a simplified linear model of sea waves was used to analyze the proposed harvester. The energy harvesting capabilities of the tensegrity-based harvester are compared with a conventional heaving system
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