Energy optimization of deployable tensegrity structure

This paper presents a numerical method to design a tensegrity structure which can deploy itself to a desired shape and cost the minimal energy. Starting from the dynamic model in matrix the static model in vector form which is easy to solve the force density is deduced. The self-deploy control problem is described as a math model by using this new vector model and the condition whether there exists a solution is given out. Projection algorithm is adopted to get the optimal solution. The optimization method investigated is applied to two examples and simulation results demonstrate that the theory works well.