Discrete approximations to toroidal continua for mobility of robotic vehicles on unstructured terrains are considered in this paper. Tensegrity paradigm, which derives pre-stressable structures composed of axially loaded members, is used to furnish various topologies for the discretization process. Discrete topologies that function as wheels are analyzed for their structural properties under static and dynamic loading configurations. Tensegrity dynamics is utilized to derive structural properties to aid in comparison of candidate topologies. It is shown that the discrete approximations developed using mechanics principles aid broader exploration and evaluation of design topologies owing to the simplicity of the physics. Numerical simulations using representative discrete approximations of continuum wheel designs provide optimism towards the use of tensegrity paradigm in modeling and realizing innovative wheels for planetary exploration.

Access the Conference Proceedings Paper on ASCE Library 

Discrete approximations to toroidal continua for mobility of robotic vehicles on unstructured terrains are considered in this paper. Tensegrity paradigm, which derives pre-stressable structures composed of axially loaded members, is used to furnish various topologies for the discretization process. Discrete topologies that function as wheels are analyzed for their structural properties under static and dynamic loading configurations. Tensegrity dynamics is utilized to derive structural properties to aid in comparison of candidate topologies. It is shown that the discrete approximations developed using mechanics principles aid broader exploration and evaluation of design topologies owing to the simplicity of the physics. Numerical simulations using representative discrete approximations of continuum wheel designs provide optimism towards the use of tensegrity paradigm in modeling and realizing innovative wheels for planetary exploration.

**[Access the Conference Proceedings Paper on ASCE Library](https://doi.org/10.1061/9780784483374.099)** 

Tensegrity Wheel Topology for Mobility of Planetary Rovers Over Unstructured Terrains

This conference brought the experience and knowledge of experts in the aerospace industry together to share and discuss the latest research and engineering techniques that effect the exploration and settlement of space. Presentations were made in multiple concurrent symposia over three days. Topics included: Granular materials in space exploration, exploration in utilization of extra-terrestrial bodies, advanced materials and designs for aerospace and terrestrial structures under extreme environment, structures in challenging environments, and space engineering, construction, and architecture for the moon, Mars, and beyond.

Due to challenges with COVID-19, this 17th Biennial was moved to April 2021 and was offered in a virtual format.

[Paper Proceedings](https://ascelibrary.org/doi/book/10.1061/earthandspace2021)

Conference DOI: https://doi.org/10.26226/m.63243a3fb7ff860013acd57f