Prototyping Tensegrity Lander Systems for Icy Terrain, Year 2

This task explored a new application domain for the Tensegrity concept, a concept which has been around for decades. In particular, icy and granular material is an excellent application for Tensegrity systems, and a combination of the NASA Ames mobility systems with the JPL landing/payload system could be a powerful payload for novel mission architectures. Tensegrity systems for EDL function similarly to airbags, but without inflation. The struts of the inner structure are in compression against the tendons of the outer structure, and the system mechanically mimics an inflatable. One of the keys to this approach is operating in the buckling regime, allowing structural elements to store much more energy per kg of lander mass. Typical landers are structural trusses and must avoid buckling, while airbag landers require inflation and are vulnerable to punctures. In this task, the JPL team incorporated a computationally efficient model of tensegrity structures developed by Professor Julian Rimoli of Georgia Tech into lander studies to look at enabling new mission concepts.