Reconfigurable, Stiff Tensegrity Structures and a Modified Force-Density Method for Form Finding

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YILDIZ K., Lesieutre G. A.

27th International Conference on Adaptive Structures and Technologies, LAKE GEORGE, United States Of America, 03 October 2016

  • Publication Type: Conference Paper / Full Text
  • Country: United States Of America
  • Istanbul Technical University Affiliated: Yes


In this study, a practical, modified semi-analytical force-density method for form finding of tensegrities is described. This method requires knowledge of the element connectivity between nodes and information about the type of each element (strut or tendon). A force density matrix is then constructed and, by requiring satisfaction of necessary rank conditions, feasible force densities are obtained. Different sets of force densities may be found, altering the geometrical shape. This method is capable of finding the self-equilibrated geometry for non-regular tensegrities as well as regular ones. Non-regular forms are determined by specifying a certain number of nodes in space without changing the feasible set of force densities. Instead of employing iterative algorithms, this approach solves for force equilibrium at each node using a penalty approach. To demonstrate the power of this approach, results are compared to those in the literature.