Dynamics Modelling of Tensegrity Structures with Expanding Properties

Abstract

AbstractGiven the prestress level of a tensegrity structural system obtained from any form-finding method, an important step in the design process is to develop mathematical models that describe the behaviour of the system. Moreover, tensegrity structures are strongly dependent on their geometric, or kinematic, configurations. As such, except for small scale tensegrity structures with a few structural members, resorting to the use of computational techniques for analysis is a necessity. Because tensegrity structures are kinematically and statically indeterminate structures, a free standing tensegrity structure has at least one rigid body mode apart from the six rigid body modes that can be eliminated, for example, by applying boundary conditions assuming the structure is attached to a base. In this paper, a new general tool (applicable to small and large systems) for systematic and efficient formulation of structural models for tensegrity systems is proposed. Current tools are limited to structures with a few degrees of freedom (DOF), however, this new tool simplifies the analyses of tensegrity structures with several DOFs and provides a new insight into the behaviour of these interesting and yet challenging structures, at least from a control systems’ viewpoint.KeywordsTensegrityStiffness matrixDynamicsFinite element methodState-spaceSingular systems