Study on the equilibrium of the assembling two-unit tensegrity structure

  • Ani Luo
  • Wanwei JiEmail author
  • Heping Liu
  • Hongwei Guo
  • Rongqiang Liu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


When the tensegrity units are assembled into the complex tensegrity structures, relations between structural and force parameters determine equilibrium of the tensegrity structures and contribute to more topological configurations, so the relations will be investigated here. Firstly, equilibrium equations of the tensegrity structure which two tensegrity units are assembled into are set up. Then analytical solutions of the equations are obtained by solving the equilibrium equations. Finally, with the analytical solutions, influences of the deflection angle inside the unit and number of the bars on other parameters are investigated.


Tensegrity structures Tensegrity unit Equilibrium equations Analytical solutions 


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This paper is funded by the International Exchange Programof Harbin Engineering University for Innovation-oriented Talents Cultivation.

The authors gratefully acknowledge the contribution of National Natural Science Fund of China (Grant Number 51605111, 51875111, 51675114).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ani Luo
    • 1
  • Wanwei Ji
    • 1
    Email author
  • Heping Liu
    • 1
  • Hongwei Guo
    • 2
  • Rongqiang Liu
    • 2
  1. 1.College of Mechanical and Electrical EngineeringHarbin Engineering UniversityHarbinP. R. China
  2. 2.State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinP. R. China

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