Tensegrity structures are frameworks in a stable self-equilibrated prestress
state that have been applied in various fields in science and engineering.
Research into tensegrity structures has resulted in reliable techniques for
their form finding and analysis. However, most techniques address topology and
form separately. This paper presents a bio-inspired approach for the combined
topology identification and form finding of planar tensegrity structures.
Tensegrity structures are generated using tensegrity cells (elementary stable
self-stressed units that have been proven to compose any tensegrity structure)
according to two multiplication mechanisms: cellular adhesion and fusion.
Changes in the dimension of the self-stress space of the structure are found to
depend on the number of adhesion and fusion steps conducted as well as on the
interaction among the cells composing the system. A methodology for defining a
basis of the self-stress space is also provided. Through the definition of the
equilibrium shape, the number of nodes and members as well as the number of
self-stress states, the cellular multiplication method can integrate design
considerations, providing great flexibility and control over the tensegrity
structure designed and opening the door to the development of a whole new realm
of planar tensegrity systems with controllable characteristics.Comment: 29 pages, 19 figures, to appear at Applied Mathematical Modelin
