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Analysis of Tensegrity Dynamics

  • Robert E. Skelton
  • Mauricio C. de Oliveira
Chapter

Throughout this chapter we construct dynamic models in the form of ordinary differential equations for tensegrity structures. We make the following assumptions: a) Rods are rigid, thin, and long and so rotational motion about the longitudinal axis can be neglected. b) Strings are massless elastic elements with Hookean (linear) behavior only when in tension. c) The connectivity of the structure is fixed.

Keywords

Generalize Force Projection Matrix Tensegrity Structure Rigid Body Mode Penrose Inverse 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag US 2009

Authors and Affiliations

  1. 1.Mechanical & Aerospace Engineering, University of California, San DiegoLa JollaUSA

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