Analysis of Static Tensegrity Structures
This chapter develops convenient mathematical algorithms to characterize stable equilibria of tensegrity systems, to characterize stiffness properties, to characterize the relationships between force and configuration, and to characterize the mass of the system, subject to buckling or yield constraints. The final design of a tensegrity system will involve both the static and dynamic properties. Often the dynamic motion can be greatly improved by changing design parameters (the types of building blocks, the configuration of each unit, and the configuration of the whole network of elements) that were fixed in the static analysis of this chapter. Hence, we are interested in efficient computational tools that will allow rapid and efficient changes, whose impact will later, in Chapter 5, be quantified from dynamic properties.
KeywordsExternal Force Force Density Modal Vector Linear Spring Connectivity Matrix
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