An introduction to the mechanics of tensegrity structures

Tensegrity structures consist of strings (in tension) and bars (in compression). Strings are strong, light, and foldable, so tensegrity structures have the potential to be light but strong and deployable. Pulleys, NiTi wire, or other actuators to selectively tighten some strings on a tensegrity structure can be used to control its shape. The article describes some principles we have found to be true in a detailed study of mathematical models of several tensegrity structures. We describe properties of these structures which hold quite generally. We describe how pretensing all strings of a tensegrity makes its shape robust to various loading forces. Another property asserts that the shape of a tensegrity structure can be changed substantially with little change in the potential energy of the structure. Thus shape control should be inexpensive. This is in contrast to the control of classical structures which require substantial energy to change their shape