ABSTRACT
A tensegrity structure is a special truss structure in a stable equilibrium with selected members designated for only tension loading, and the members in tension forming a continuous network of cables separated by a set of compressive members. This chapter develops an explicit analytical model of the nonlinear dynamics of a large class of tensegrity structures constructed of rigid rods connected by a continuous network of elastic cables. The kinematics are described by positions and velocities of the ends of the rigid rods; hence, the use of angular velocities of each rod is avoided.
The model yields an analytical expression for accelerations of all rods, making the model efficient for simulation, because the update and inversion of a nonlinear mass matrix are not required. The model is intended for shape control and design of deployable structures. Indeed, the explicit analytical expressions are provided herein for the study of stable equilibria and controllability, but control issues are not treated.
