文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 859–881
ate/mechmt
Tensegrity frameworks: Static analysis review
Sergi Herna`ndez Juan *, Josep M. Mirats Tur
Institut de Robo`tica i Informa`tica Industrial (IRI), CSIC-UPC, Barcelona, Spain
Received 21 May 2007; received in revised form 12 June 2007; accepted 23 June 2007
Available online 14 August 2007
Abstract
This paper hands in a review of the basic issues about the statics of tensegrity structures. Definitions and notation for
the most important concepts, borrowed from the vast existing literature, are summarized. All of these concepts and defi-
nitions provide plete mathematical framework to analyze the rigidity and stability properties of tensegrity structures
from three different, but related, points of view: motions, forces and energy approaches. Several rigidity and stability defi-
nitions are presented in this paper and hierarchically ordered, from the strongest condition of infinitesimal rigidity to the
more wide concept of simple rigidity, so extending some previous classifications already available.
Important theorems regarding the relationship between these definitions are also put together plete the static
overview of tensegrity structures. Examples of different tensegrity structures belonging to each of the rigidity and stability
categories presented are described and analyzed. Concluding the static analysis of tensegrity structures, a review of existing
form-finding methods is presented.
Ó 2007 Elsevier Ltd. All rights reserved.
PACS: ; ; ;
1991 MSC: 70C20; 70B15
Keywords: Tensegrity frameworks; Static analysis; Form-finding
1. What is a tensegrity?
Throughout history, most of the human construction engineering has been of a pression matter.
Examples of this are the post and lintel construction technique (from Stonehenge to modern buildings) or the
Roman arch. However, and in contrast to human engineering, th