%A Boz,Utku %A Goyal,Raman %A Skelton,Robert E. %D 2018 %J Frontiers in Astronomy and Space Sciences %C %F %G English %K tensegrity,D-Bar Systems,actuators,Sensors.,stiffness %Q %R 10.3389/fspas.2018.00041 %W %L %M %P %7 %8 2018-December-13 %9 Original Research %# %! Actuators and Sensors based on Tensegrity D-bar Structures %* %< %T Actuators and Sensors Based on Tensegrity D-bar Structures %U https://www.frontiersin.org/articles/10.3389/fspas.2018.00041 %V 5 %0 JOURNAL ARTICLE %@ 2296-987X %X Tensegrity offers lightweight deployable structures for use in many engineering disciplines. Among all of the available tensegrity forms, D-Bar has a potential for combined applications of sensing, actuation, and structural support. In this paper, we enhance the minimal mass formulation of the D-Bar by including yielding of the compressive members as a design constraint in contrast to the previous assumption which considers buckling as the sole failure mechanism. In addition, we analyze the length and force gains of a D-bar system analytically by considering the minimal mass D-bar as the design constraint. Furthermore, we calculate the stiffness of the D-Bar and when appropriate use as design constraints as well. To enhance the minimal mass properties of the D-Bar, we combine T-bar and D-bar systems. The analysis shows that these structures are the basis for effective force transducers, force-controlled actuators, and efficient deployable compressive structures.