Design and analysis of bistable tensegrity mechanism with variable configurations for morphing wing

Flexible morphing wings represent a novel type of aircraft mechanism capable of deforming to adjust the aircraft's attitude during flight. Conventional flexible morphing wings are typically limited to a single mode of deformation, which restricts their functionality. To address this limitation, this paper proposes a flexible morphing wing capable of achieving two distinct modes of deformation. Given that the primary focus is on attaining the final two wing configurations rather than the intermediate deformation process, the bistable mechanism emerges as a promising solution. To meet the requirements for lightweight construction and high reliability, tensegrity mechanisms offer significant advantages. Specifically, the design of a bistable tensegrity mechanism effectively addresses the functional demands of morphing wings. Accordingly, this paper introduces an innovative tensegrity mechanism capable of transitioning between planar tensegrity and spatial tensegrity configurations. This mechanism demonstrates substantial applications requiring large-scale spatial deformation. Stability analysis confirms that the two configurations of the tensegrity mechanism can coexist in stable states. Additionally, the study examines the changes in length of the ropes during configuration transitions and incorporates a bistable structure and rolling joint into the design. These features enhance the mechanism's compliance and stability across different configurations. Using a modular design approach, the tensegrity mechanism is employed as a foundational unit, and the combination of multiple tensegrity units is explored. As an example, a collinear stacking configuration is applied to a flexible morphing wing, enabling both the length adjustment of the wing's spanwise direction and modifications to the wingtip geometry.