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This paper presents an analytical and experimental design and deploymentcontrol analysis of a hyperbolic paraboloid cable net based on clusteringactuation strategies. First, the dynamics and statics for clustered tensegritystructures (CTS) are given. Then, we propose the topology design of thedeployable hyperbolic paraboloid cable net. The deployability of the cable netis achieved by using clustered cables. It is shown that the clustered cablessignificantly reduce the number of actuators required for control. Thedeployment trajectory and actuation prestress in the cables are designed toensure the tensions are feasible during the deployment process. Then, wecompare the deployment analysis's open-loop and closed-loop control strategies.Finally, a lab-scale model is constructed to validate the actuation laws. Wetest the static performance and deployment process of the experimental model.Results show that the closed-loop control approach is more stable and smootherthan the open-loop one in the deployment process. The approaches developed inthis paper can also be used for various deployable tensegrity structures.

Design and control analysis of a deployable clustered hyperbolic paraboloid cable net