Adaptive Tensegrity Module. I: Closed-Form and Finite-Element Analyses

Abstract

AbstractThis paper describes the closed-form and discrete computational models for a geometrically nonlinear and linear static analysis of the adaptive tensegrity module presented in the companion paper. Due to the symmetry of the spatial tensegrity system, a simplified closed-form analysis is based on a two-dimensional (2D) solution of an equivalent prestressed triangular cable truss acting under a vertical point load. Novel concrete forms of the cable and deflection equations are derived. The analytical models serve to determine the response, i.e., horizontal components of cable forces and deflections as the basis for control commands. A three-dimensional (3D) discrete geometrically nonlinear analysis of the adaptive tensegrity module is based on the application of a nonlinear finite-element method. The results obtained by the nonlinear finite-element analysis are compared with those obtained by using both the simplified linear and nonlinear closed-form solutions. Physical relevance and mathematical cor...