Skip to content
BY 4.0 license Open Access Published by De Gruyter Open Access March 23, 2021

A novel method for determining the feasible integral self-stress states for tensegrity structures

  • Aguinaldo Fraddosio , Gaetano Pavone EMAIL logo and Mario Daniele Piccioni

Abstract

The form-finding analysis is a crucial step for determining the stable self-equilibrated states for tensegrity structures, in the absence of external loads. This form-finding problem leads to the evaluation of both the self-stress in the elements and the shape of the tensegrity structure. This paper presents a novel method for determining feasible integral self-stress states for tensegrity structures, that is self-equilibrated states consistent with the unilateral behaviour of the elements, struts in compression and cables in tension, and with the symmetry properties of the structure. In particular, once defined the connectivity between the elements and the nodal coordinates, the feasible self-stress states are determined by suitably investigating the Distributed Static Indeterminacy (DSI). The proposed method allows for obtaining feasible integral self-stress solutions by a unique Singular Value Decomposition (SVD) of the equilibrium matrix, whereas other approaches in the literature require two SVD. Moreover, the proposed approach allows for effectively determining the Force Denstiy matrix, whose properties are strictly related to the super-stability of the tensegrity structures. Three tensegrity structures were studied in order to assess and discuss the efficiency and accuracy of the proposed innovative method.

References

[1] Fu F. Structural behavior and design methods of Tensegrity domes. J Construct Steel Res. 2005;61(1):23–5.10.1016/j.jcsr.2004.06.004Search in Google Scholar

[2] Gómez-Jáuregui V, Arias R, Otero C, Manchado C. Novel Technique for Obtaining Double-Layer Tensegrity Grids. Int J Space Structures. 2012;27(2-3):155–66.10.1260/0266-3511.27.2-3.155Search in Google Scholar

[3] Skelton RE, Fraternali F, Carpentieri G, Micheletti A. Minimum mass design of tensegrity bridges with parametric architecture and multiscale complexity. Mech Res Commun. 2014;58:124–32.10.1016/j.mechrescom.2013.10.017Search in Google Scholar

[4] Liapi K, Kim J. A Parametric Approach to the Design of Vaulted Tensegrity Networks. Int J Archit Comput. 2004;2(2):245–62.10.1260/1478077041518737Search in Google Scholar

[5] Cimmino MC, Miranda R, Sicignano E, Ferreira AJ, Skelton RE, Fraternali F. Composite solar façades and wind generators with tensegrity architecture. Compos, Part B Eng. 2017;115:275–81.10.1016/j.compositesb.2016.09.077Search in Google Scholar

[6] Zolesi VS, Ganga PL, Scolamiero L, Micheletti A, Podio-Guidugli P, Tibert G, et al. On an innovative deployment concept for large space structures, In: 42nd Int. Conf. Environ. Syst., San Diego; 2012:1–14.10.2514/6.2012-3601Search in Google Scholar

[7] Wendling S, Oddou C, Isabey D. Stiffening response of a cellular tensegrity model. J Theor Biol. 1999 Feb;196(3):309–25.10.1006/jtbi.1998.0841Search in Google Scholar

[8] Stamenović D, Fredberg JJ, Wang N, Butler JP, Ingber DE. A microstructural approach to cytoskeletal mechanics based on tensegrity. J Theor Biol. 1996 Jul;181(2):125–36.10.1006/jtbi.1996.0120Search in Google Scholar

[9] Djouadi S, Motro R, Pons JC, Crosnier B. Active Control of Tensegrity Systems. J Aerosp Eng. 1998;11(2):37–44.10.1061/(ASCE)0893-1321(1998)11:2(37)Search in Google Scholar

[10] Liu K, Wu J, Paulino GH, Qi HJ. Programmable Deployment of Tensegrity Structures by Stimulus-Responsive Polymers. Sci Rep. 2017 Jun;7(1):3511.10.1038/s41598-017-03412-6Search in Google Scholar PubMed PubMed Central

[11] Yang S, Sultan C. Modeling of tensegrity-membrane systems. Int J Solids Struct. 2015;82:125–43.10.1016/j.ijsolstr.2015.09.012Search in Google Scholar

[12] Nouri Rahmat Abadi B, Mehdi Shekarforoush SM, Mahzoon M, Farid M. Kinematic, Stiffness, and Dynamic Analyses of a Compliant Tensegrity Mechanism. J Mech Robot. 2014;6(4):041001.10.1115/1.4027699Search in Google Scholar

[13] Paul C, Valero-Cuevas FJ, Lipson H. Design and control of tensegrity robots for locomotion. IEEE Trans Robot. 2006;22(5):944–57.10.1109/TRO.2006.878980Search in Google Scholar

[14] Sabelhaus A, Friesen J. SunSpiral V., Ji H., Hylton P., Madaan Y., et al., Mechanism Design and Simulation of the Ultra Spine, A Tensegrity Robot, In: Proceedings of ASME 2015 Int. Des. Eng. Tech. Conf. Comput. Inf. Eng. Conf. Boston; 2015:1–11.10.1115/DETC2015-47583Search in Google Scholar

[15] Chen LH, Kim K, Tang E, Li K, House R, Zhu EL, et al. Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control. J Mech Robot. 2017;9(2):025001.10.1115/1.4036014Search in Google Scholar

[16] Salahshoor H, Pal RK, Rimoli JJ. Material symmetry phase transitions in three-dimensional tensegrity metamaterials. J Mech Phys Solids. 2018;119:382–99.10.1016/j.jmps.2018.07.011Search in Google Scholar

[17] Rimoli JJ, Pal RK. Mechanical response of 3-dimensional tensegrity lattices. Compos, Part B Eng. 2017;115:30–42.10.1016/j.compositesb.2016.10.046Search in Google Scholar

[18] Amendola A, Krushynska A, Daraio C, Pugno NM, Fraternali F. Tuning frequency band gaps of tensegrity metamaterials with local and global prestress. Int J Solids Struct. 2018;155:47–56.10.1016/j.ijsolstr.2018.07.002Search in Google Scholar

[19] Fraddosio A, Pavone G, Piccioni MD. Minimal mass and self-stress analysis for innovative V-Expander tensegrity cells. Compos Struct. 2019;209:754–74.10.1016/j.compstruct.2018.10.108Search in Google Scholar

[20] Fraddosio A, Marzano S, Pavone G, Piccioni MD. Morphology and self-stress design of V-Expander tensegrity cells. Compos, Part B Eng. 2017;115:102–16.10.1016/j.compositesb.2016.10.028Search in Google Scholar

[21] Ferkiss V, Fuller RB, Applewhite EJ. Synergetics: Explorations in the Geometry of Thinking, Macmillan Pub Co. Technol Cult. 1976;17(1):104.10.2307/3103256Search in Google Scholar

[22] Ashwear N, Eriksson A. Natural frequencies describe the pre-stress in tensegrity structures. Comput Struc. 2014;138:162–71.10.1016/j.compstruc.2014.01.020Search in Google Scholar

[23] Oppenheim IJ, Williams WO. Geometric effects in an elastic tensegrity structure. J Elast. 2000;59(1/3):51–65.10.1007/978-94-010-0728-3_6Search in Google Scholar

[24] Tran HC, Lee J. Geometric and material nonlinear analysis of tensegrity structures. Acta Mech. Sin. Xuebao. 2011;27(6):938–49.Search in Google Scholar

[25] Zhang LY, Li Y, Cao YP, Feng XQ. Stiffness matrix based form-finding method of tensegrity structures. Eng Struct. 2014;58:36–48.10.1016/j.engstruct.2013.10.014Search in Google Scholar

[26] Gilewski W, Kłosowska J, Obara P. Form finding of tensegrity structures via Singular Value Decomposition of compatibility matrix, In: Proceedings of Adv. Mech. Theor. Comput. Interdiscip. Issues - 3rd Polish Congr. Mech. PCM 2015 21st Int. Conf. Comput. Methods Mech. C. Poland; 2015:191–96.10.1201/b20057-43Search in Google Scholar

[27] Koohestani K. Automated element grouping and self-stress identification of tensegrities. Eng Comput. 2015;32(6):1643–60.10.1108/EC-08-2014-0165Search in Google Scholar

[28] Chen Y, Feng J, Ma R, Zhang Y. Efficient symmetry method for calculating integral prestress modes of statically indeterminate cable-strut structures. J Struct Eng. 2015;141(10):04014240.10.1061/(ASCE)ST.1943-541X.0001228Search in Google Scholar

[29] Tran HC, Lee J. Form-finding of tensegrity structures with multiple states of self-stress. Acta Mech. 2011;222(1-2):131–47.10.1007/s00707-011-0524-9Search in Google Scholar

[30] Sánchez R, Maurin B, Kazi-Aoual MN, Motro R. Selfstress States Identification and Localization in Modular Tensegrity Grids. Int J Space Structures. 2007;22(4):215–24.10.1260/026635107783133780Search in Google Scholar

[31] Quirant J, Kazi-Aoual MN, Motro R. Designing tensegrity systems: the case of a double layer grid. Eng Struct. 2003;25(9):1121–30.10.1016/S0141-0296(03)00021-XSearch in Google Scholar

[32] Tran HC, Lee J. Initial self-stress design of tensegrity grid structures. Comput Struc. 2010;88(9-10):558–66.10.1016/j.compstruc.2010.01.011Search in Google Scholar

[33] Tibert AG, Pellegrino S. Review of Form-Finding Methods for Tensegrity Structures. Int J Space Structures. 2011;26(3):241–55.10.1260/0266-3511.26.3.241Search in Google Scholar

[34] Zhang JY, Ohsaki M. Adaptive force density method for form-finding problem of tensegrity structures. Int J Solids Struct. 2006;43(18-19):5658–73.10.1016/j.ijsolstr.2005.10.011Search in Google Scholar

[35] Lee S, Lee J. A novel method for topology design of tensegrity structures. Compos Struct. 2016;152:11–9.10.1016/j.compstruct.2016.05.009Search in Google Scholar

[36] Schek HJ. The force density method for form finding and computation of general networks. Comput Methods Appl Mech Eng. 1974;3(1):115–34.10.1016/0045-7825(74)90045-0Search in Google Scholar

[37] Xu X, Wang Y, Luo Y. An improved multi-objective topology optimization approach for tensegrity structures. Adv Struct Eng. 2018;21(1):59–70.10.1177/1369433217706780Search in Google Scholar

[38] Ehara S, Kanno Y. Topology design of tensegrity structures via mixed integer programming. Int J Solids Struct. 2010;47(5):571–9.10.1016/j.ijsolstr.2009.10.020Search in Google Scholar

[39] Zhang JY, Taguchi T. Form-Finding and Stability Analysis of Tensegrity Structures using Nonlinear Programming and Fictitious Material Properties. Int J Solids Struct. 2015;69-70:1–10.10.1016/j.ijsolstr.2015.06.020Search in Google Scholar

[40] So AM, Ye Y. A semidefinite programming approach to tensegrity theory and realizability of graphs, In: Proceedings of seventeenth Annu. ACMSIAM Symp. Discret. algorithm SODA. Miami; 2006:766–75. https://doi.org/10.1145/1109557.1109641.10.1145/1109557.1109641Search in Google Scholar

[41] Bel Hadj Ali N, Rhode-Barbarigos L, Smith IF. Analysis of clustered tensegrity structures using a modified dynamic relaxation algorithm. Int J Solids Struct. 2011;48(5):637–47.10.1016/j.ijsolstr.2010.10.029Search in Google Scholar

[42] Fagerström G. Dynamic Relaxation of Tensegrity Structures, In: Proceedings of Between Man Mach. Proc. 14th Int. Conf. Comput. Archit. Des. Res. Asia, (22-25 April 2009, Yunlin, Taiwan) Taiwan; 2009:553–62.Search in Google Scholar

[43] Pagitz M, Mirats Tur JM. Finite element based form-finding algorithm for tensegrity structures. Int J Solids Struct. 2009;46(17):3235–40.10.1016/j.ijsolstr.2009.04.018Search in Google Scholar

[44] Klinka K, Arcaro V, Gasparini D. Form finding of tensegrity structures using finite elements and mathematical programming. J Mech Mater Struct. 2012;7(10):899–907.10.2140/jomms.2012.7.899Search in Google Scholar

[45] Chen Y, Feng J, Wu Y. Prestress stability of pin-jointed assemblies using ant colony systems. Mech Res Commun. 2012;41:30–6.10.1016/j.mechrescom.2012.02.004Search in Google Scholar

[46] Xu X, Luo Y. Form-finding of nonregular tensegrities using a genetic algorithm. Mech Res Commun. 2010;37(1):85–91.10.1016/j.mechrescom.2009.09.003Search in Google Scholar

[47] Feng X. The optimal initial self-stress design for tensegrity grid structures. Comput Struc. 2017;193:21–30.10.1016/j.compstruc.2017.07.029Search in Google Scholar

[48] Linkwitz K, Schek HJ. Density Methods Applied to Form Finding of Initially Stressed Systems. Novel Approaches in Civil Engineering; 1971. pp. 341–50.Search in Google Scholar

[49] Connelly R., Tensegrity structures. Why are they stable?, Rigidity theory Appl., 1998, 47–54.10.1007/0-306-47089-6_3Search in Google Scholar

[50] Xu X, Wang Y, Luo Y. Finding member connectivities and nodal positions of tensegrity structures based on force density method and mixed integer nonlinear programming. Eng Struct. 2018;166:240–50.10.1016/j.engstruct.2018.03.063Search in Google Scholar

[51] Cai J, Wang X, Deng X, Feng J. Form-finding method for multi-mode tensegrity structures using extended force density method by grouping elements. Compos Struct. 2018;187:1–9.10.1016/j.compstruct.2017.12.010Search in Google Scholar

[52] Cai J, Feng J. Form-finding of tensegrity structures using an optimization method. Eng Struct. 2015;104:126–32.10.1016/j.engstruct.2015.09.028Search in Google Scholar

[53] Lee S, Lee J, Kang JW. Results of generalized equilibrium path from form-finding of tensegrity structure. Int J Steel Struct. 2017;17(3):1225–31.10.1007/s13296-017-9028-3Search in Google Scholar

[54] Gan BS, Zhang J, Nguyen DK, Nouchi E. Node-based genetic form-finding of irregular tensegrity structures. Comput Struc. 2015;159:61–73.10.1016/j.compstruc.2015.07.003Search in Google Scholar

[55] Yuan XF, Ma S, Jiang SH. Form-finding of tensegrity structures based on the Levenberg–Marquardt method. Comput Struc. 2017;192:171–80.10.1016/j.compstruc.2017.07.005Search in Google Scholar

[56] Koohestani K. On the analytical form-finding of tensegrities. Compos Struct. 2017;166:114–9.10.1016/j.compstruct.2017.01.059Search in Google Scholar

[57] Estrada GG, Bungartz HJ, Mohrdieck C. Numerical form-finding of tensegrity structures. Int J Solids Struct. 2006;43(22-23):6855–68.10.1016/j.ijsolstr.2006.02.012Search in Google Scholar

[58] Calladine CR. Buckminster Fuller’s “Tensegrity” structures and Clerk Maxwell’s rules for the construction of stiff frames. Int J Solids Struct. 1978;14(2):161–72.10.1016/0020-7683(78)90052-5Search in Google Scholar

[59] Pellegrino S, Calladine CR. Matrix analysis of statically and kinematically indeterminate frameworks. Int J Solids Struct. 1986;22(4):409–28.10.1016/0020-7683(86)90014-4Search in Google Scholar

[60] Calladine CR, Pellegrino S. First-order infinitesimal mechanisms. Int J Solids Struct. 1991;27(4):505–15.10.1016/0020-7683(91)90137-5Search in Google Scholar

[61] Zhou J, Chen W, Zhao B, Qiu Z, Dong S. Distributed indeterminacy evaluation of cable-strut structures: formulations and applications. J. Zhejiang Univ. A. 2015;16(9):737–48.Search in Google Scholar

[62] Yuan X, Chen L, Dong S. Prestress design of cable domes with new forms. Int J Solids Struct. 2007;44(9):2773–82.10.1016/j.ijsolstr.2006.08.026Search in Google Scholar

[63] Zhou J, Chen W, Zhao B, Dong S. A feasible symmetric state of initial force design for cable-strut structures. Arch Appl Mech. 2017;87(8):1385–97.10.1007/s00419-017-1257-6Search in Google Scholar

[64] Zhang JY, Ohsaki M. Tensegrity Structures. Springer; 2015. https://doi.org/10.1007/978-4-431-54813-3.10.1007/978-4-431-54813-3Search in Google Scholar

[65] Chen Y, Sun Q, Feng J. Improved Form-Finding of Tensegrity Structures Using Blocks of Symmetry-Adapted Force Density Matrix. J Struct Eng. 2018;144(10):04018174.10.1061/(ASCE)ST.1943-541X.0002172Search in Google Scholar

[66] Zhang LY, Zhu SX, Li SX, Xu GK. Analytical form-finding of tensegrities using determinant of force-density matrix. Compos Struct. 2018;189:87–98.10.1016/j.compstruct.2018.01.054Search in Google Scholar

[67] Tran HC, Lee J. Advanced form-finding of tensegrity structures. Comput Struc. 2010;88(3-4):237–46.10.1016/j.compstruc.2009.10.006Search in Google Scholar

[68] Zhang JY, Ohsaki M. Stability conditions for tensegrity structures. Int J Solids Struct. 2007;44(11-12):3875–86.10.1016/j.ijsolstr.2006.10.027Search in Google Scholar

[69] Lee S, Gan BS, Lee J. A fully automatic group selection for form-finding process of truncated tetrahedral tensegrity structures via a double-loop genetic algorithm. Compos, Part B Eng. 2016;106:308–15.10.1016/j.compositesb.2016.09.018Search in Google Scholar

[70] Lee S, Lee J. Advanced automatic grouping for form-finding of tensegrity structures. Struct Multidiscipl Optim. 2017;55(3):959–68.10.1007/s00158-016-1549-4Search in Google Scholar

[71] Kaveh A. Computational Structural Analysis and Finite Element Methods. Springer; 2014. https://doi.org/10.1007/978-3-319-02964-1.10.1007/978-3-319-02964-1Search in Google Scholar

[72] Lee S, Lee J, Kang J. A Genetic Algorithm Based Form-finding of Tensegrity Structures with Multiple Self-stress States. J Asian Arch Build Eng. 2017;16:155-162.10.3130/jaabe.16.155Search in Google Scholar

Received: 2020-09-15
Accepted: 2020-12-28
Published Online: 2021-03-23

© 2021 Aguinaldo Fraddosio et al., published by De Gruyter

This work is licensed under the Creative Commons Attribution 4.0 International License.

Downloaded on 1.6.2024 from https://www.degruyter.com/document/doi/10.1515/cls-2021-0007/html
Scroll to top button