Analysis of Tensegrity Dynamics

  • Robert E. Skelton
  • Mauricio C. de Oliveira

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.


Generalize Force Projection Matrix Tensegrity Structure Rigid Body Mode Penrose Inverse 
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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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