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Form-finding method for Tensegrity Structures under Geometrical Constraints

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Form-finding method for Tensegrity Structures under Geometrical Constraints

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to Geometrical Constraints

by

Reprinted from

INTERNATIONAL JOURNAL OF

SPACE STRUCTURES

Volume 21 · Number 4 · 2006

5 Wates Way, Brentwood, Essex CM15 9TB, United Kingdom

Form-finding of Tensegrity

Structures Subjected to

Geometrical Constraints

J.Y. Zhang1 and M. Ohsaki2

1,2Department of Architecture & Architectural Engineering, Kyoto University,

Kyoto-Daigaku Katsura, Nishikyo, Kyoto 615-8540, Japan

1is.zhang@archi.kyoto-u.ac.jp, 2ohsaki@archi.kyoto-u.ac.jp

respect to force densities and nodal coordinates. These constraints are

incorporated into the adaptive force density method proposed by the authors

for finding the non-degenerate and self-equilibrated configurations of

tensegrity structures. The form-finding process is divided into two design

stages: (1) finding the feasible force densities that satisfy the non-degeneracy

condition, and (2) uniquely determining the configuration (nodal location) that

satisfies the self-equilibrium conditions. The proposed method is demonstrated

to be powerful for systematically searching new configurations of tensegrity

structures subjected to given geometrical constraints.

Force Density Method.

This paper presents an efficient numerical method for thin lines are cables that can transmit only tensile

finding the self-equilibrated configurations of forces. Since no strut contacts with other struts, every

tensegrity structures. The process of finding such node of the structure is physically connected with only

configurations satisfying self-equilibrium equations is one strut.

called form-finding. We will show in this paper that Tensegrity structures belong to the Type III pin-

the final configurations determined by the proposed jointed structures according to the following

method precisely have the geometrical properties classification for general pin-jointed structures based

specified by the users. on their stability properties [2]:

The word tensegrity introduced by Fuller [1] is a

contraction of ‘tension’ and ‘integrity’. It indicates the

stablizing effect by the introduction of member forces

(tension and compression) to the structure. In the

original and strict definition of tensegrity structures,

every strut carrying compression does not make

mechanical contact with any other struts. For example,

Fig.1 shows the simplest tensegrity structure in three-

dimensional space. It consists of six nodes and twelve

members; the members in thick lines are struts that Fig. 1. The simplest three-dimensional tensegrity structure.

Form-finding of Tensegrity Structures Subjected to Geometrical Constraints

• Type I: truss, which contains no self-stress. Geometrical constraints are formulated in linear forms

• Type II: tensile structure, all members of which with respect to the force densities and nodal

are in tension. coordinates, and respectively incorporated into these

• Type III: tensegrity structure, which consists of two design stages. As examples to demonstrate how

both tensile members (cables) and compressive the proposed form-finding process works, rotational

members (struts). symmetry about z-axis and constraint on elevation (z-

coordinates) are considered.

The force density method [3] has great advantages The paper following this introduction is organized as

in transforming the non-linear self-equilibrium follows: Section 2 briefly gives the self-equilibrium

equations into a set of linear equations by introducing equations and the non-degeneracy condition of a

the concept of force density, which is defined as force- tensegrity structure. Section 3 presents the formulations

to-length ratio. It can be easily applied to the form- of the geometrical constraints on the structure,

finding problems of tensile structures because the including rotational symmetry and constraints on

force density matrix is positive definite in these cases. elevation. The geometrical constraints are incorporated

However, difficulties arise in applying the force with the adaptive force density method in Section 4.

density method to the form-finding problem of Section 5 gives a detailed description on the

tensegrity structures: the associated force density geometrical properties of tensegrity towers, which are

matrix should have necessary rank deficiency for a used as examples to illustrate the validity and capability

non-degenerate structure, because there exist of the proposed method in Section 6. Section 7

compressive members and this kind of structures are discusses the advantages and disadvantages of the

free-standing. For this purpose of ensuring the force proposed method and concludes the study.

density matrix to have the necessary rank deficiency

in the form-finding process, an analytical method [4] 2. SELF-EQUILIBRIUM EQUATIONS

and a numerical method [5] were presented. AND NON-DEGENERACY CONDITION

When the structure is relatively simple, the Let m and n denote the numbers of members and

analytical method can find the relationship among the nodes, respectively. Topology of a tensegrity structure

feasible force densities so as to provide a deeper can be defined as a directed graph [6], and described

insight into the mechanical properties of the structure. by the connectivity (incidence) matrix C ∈ m×n: if

However, when the structure is relatively complex member k is connected to nodes i and j (i < j), then the

with many nodes and members, the analytical method ith and jth elements of the kth row of C are equal to +1

might not be efficient enough and the relationship and –1, respectively, while other elements in the row

among a large number of unknown force densities are zero. Note that C is a constant matrix when the

may turn out to be less meaningful. For this case, the topology is given.

numerical method, called adaptive force density Let x, y and z (∈ n) denote the nodal coordinate

method, is considered to be a more powerful tool for vectors in x-, y- and z- directions, respectively. Denote

systematically searching for new configurations. the force density qk of member k as the force sk to

However, both of the above-mentioned methods length lk ratio; i.e., qk = sk/lk. Since a strut and a cable

cannot have control over the geometrical properties of can transmit only compressive and tensile forces,

a tensegrity structure with precision, e.g, asymmetric respectively, we have qk < 0 for a strut and qk > 0 for

configuration may be obtained although it is expected a cable. The force density vector consisting of qk (k =

to be symmetric. This is because the geometrical 1, …, m) is denoted by q ∈ m.

constraints have not yet been completely included in When no external load is applied, the structure is in

the form-finding process. a state of self-equilibrium, and the self-equilibrium

In this paper, the adaptive force density method is equations with respect to the nodal coordinate vectors

extended and divided into two subsequent design x, y and z in each direction can be respectively written

stages to directly control the self-equilibrated as [5]

configurations of tensegrity structures. The first

design stage is to find the feasible force densities Ex = 0 (1.1)

satisfying the non-degeneracy condition, and the

second stage is to determine the self-equilibrated Ey = 0 (1.2)

configuration satisfying the equilibrium equations.

Ez = 0 (1.3)

J.Y. Zhang and M. Ohsaki

where the force density matrix E ∈ n×n can be When Eq. (4) is not satisfied, the structure in d-

formulated by using the connectivity matrix C and the dimensional space will degenerate into a space with

diagonal version of the force density vector q as lower dimensions, such as a plane (r = 3), a line (r =

2) or even a point (r = 1). Hence, the problem of

E = Cdiag(q)C (2) finding the configuration of a non-degenerate

tensegrity structure in three-dimensional space turns

E is non-linear with respect to the nodal coordinates out to that of finding the feasible force densities that

because member lengths are involved. Hence, the self- satisfy Eq. (4) with d = 3.

equilibrium equations (1.1)-(1.3) are also non-linear It should be noted that this is only the necessary but

with respect to the nodal coordinates. In the case not sufficient condition for a non-degenerate

where the force densities are known or given, E tensegrity structure; i.e., the structure satisfying Eq.

becomes a constant matrix, so that the originally non- (4) may still be degenerate if its nodal coordinates in

linear equations are transformed into a set of linear each direction are linearly dependent [7].

equations with respect to the nodal coordinate vectors

x, y and z, respectively. This is the basic idea of the 3. GEOMETRICAL CONSTRAINTS

force density method. In this section, the geometrical constraints, such as

From the definition in Eq. (2), the force density rotational symmetry and constraint on elevation (z-

matrix E is always square and symmetric, and coordinates), are formulated as linear equations with

furthermore, it has rank deficiency of at least one, respect to the force densities and nodal coordinates,

because the sum of the components in each row or respectively; they will be respectively incorporated

column is 0. Let r denote the rank deficiency of E as into the two separate design stages of the proposed

method. Besides the constraints presented in this

r = n – rank(E) (3) section, any other geometrical constraints can also be

incorporated in the proposed method, as long as they

The solution space of nodal coordinates in each can be formulated as linear equations with respect to

direction can then be described by a linear the force densities and nodal coordinates.

combination of r independent vectors lying in the null- 3.1 Rotational Symmetry and Force

space of E. As discussed in [5] based on dimensions of Densities

the solution space, the following condition should be We use the term – nb-fold rotational symmetry – to

satisfied for a non-degenerate structure in d- indicate the fact that a member among a set with nb

dimensional (d=2 or 3) space members can be moved to any other in the set by

rotation about z-axis through an angle 2iπ/nb, where i

r ≥ r* = d + 1 (4) is an appropriate integer value. These nb members are

said to be in the same orbit; they have the same lengths

where r* denotes the necessary rank deficiency of E. and forces, and accordingly, the same force densities.

Form-finding of Tensegrity Structures Subjected to Geometrical Constraints

For example, the five struts shown in thick lines in di in the kth orbit of struts of the structure are

combined to dk ∈ 2n as

b

Fig.2 belong to the same orbit. Any one of the struts

can be moved to another by rotation about the z-axis

through a proper angle 2iπ/5 (i ∈ {1, 2, 3, 4}). The dk = (d

1 , …, d nb) (8)

cables in thin lines belong to a different orbit with the

xbi and xti in the orbit are also combined to xk ∈ 4n as

b

same 5-fold rotational symmetry.

Since the members in the same orbit have the same

force densities, we have the following relation xk = ((xb1), …, (xbnb), (xt1), …, (xnt b)) (9)

written as follows by a matrix Tk ∈ 2n ×4n :

b b

in each row of F in the proper positions. For example, dk = Tkxk (10)

if members i and j (i < j) are in the same orbit, there is

one row k of F, of which the ith and jth elements are where Tk is constructed by the 2nb-by-2nb identity

b

+1 and –1, respectively, while the remaining elements matrix I2n as

in the row are 0:

b b

Tk = (I2n , – I2n ) (11)

1 for p = i

F(k,p) = –1 for p = j (6) The transformation matrix Ri for the positive

0 for other cases rotation about z-axis through the angle θi = 2(i –

1)π/nb is given as

The linear constraint (5) on force densities will be

incorporated into the first design stage for finding the cosθi, –sinθi

Ri = (12)

feasible force densities. sinθi, cosθi

3.2 Rotational Symmetry and Nodal If d1 coincides with di by the a positive rotation

Coordinates about z-axis through θi, the following relation holds:

Since every node of a tensegrity structure is connected

to only one strut in the strict definition of tensegrity di = Rid1 (13)

structures, it is sufficient to consider only the struts in

describing the symmetry properties of the structure. Eq. (13) can be rewritten as follows by using the 2-

Moreover, since the struts in different orbits are by-2 identity matrix I2:

geometrically independent in view of symmetry, the

symmetry properties can be formulated only for the (Ri, …, –I2, …) dk = 0 (14)

struts in one orbit, and then be simply extended to the

whole structure.

Consider a symmetric tensegrity structure with nl

orbits of struts and nb struts in each orbit. Denote the

higher and lower nodes of the strut i by pti and pbi,

respectively. The x- and y-coordinates of the nodes pti

and pbi are denoted by the vectors xti = (xti, yti) and xbi

= (xbi, ybi), respectively.

The directed member vector di ∈ 2 (i = 1, …, nb)

of the struts on xy-plane as

For example, Fig.3 shows the directed graph of the

five struts with 5-fold rotational symmetry in Fig. 2.

Fig. 3. Directed graph of the five struts in Fig.2.

J.Y. Zhang and M. Ohsaki

Combining all the relations of di (i ≠ 1) and d1 Note that H is a constant matrix, because C is given

similar to Eq. (14) by using the matrix Sk ∈ and z is assigned. Eq. (20) will be incorporated in the

2(n –1)×2n , we obtain

b b

first design stage in the next section for finding the

feasible force densities.

Skdk = 0 (15)

4. FORM-FINDING PROCESS

– In the form-finding process for tensegrity structures in

By substituting Eq. (10) into Eq. (15) and letting S

= SkTk ∈ 2(n –1)×4n , the rotational symmetry of the

b b this study, force densities and nodal coordinates are

struts in orbit k can be expressed in a linear form with unknown parameters that need to be determined. The

respect to their nodal coordinates in xy-plane as proposed method is divided into two subsequent

design stages: (1) finding the feasible force densities

– k that satisfy the non-degeneracy condition, and (2)

Sx = 0 (16)

determining the configuration. The geometrical

Because symmetry of the struts in different orbits constraints in linear forms with respect to force

are independent, rotational symmetry of the whole densities and nodal coordinates formulated in the

structure in terms of the generalized coordinate vector previous section will be respectively incorporated into

X = ((x1), …, (xn )) ∈ 2n in xy-plane can then be

l these two design stages.

written as 4.1 Feasible Force Densities (First Design

Stage)

SX = 0 (17) In the first design stage of the form-finding process, an

iterative algorithm is presented to find the feasible

where S ∈ 2n (n –1)×4n n is the tensor product of the nl-

l b l b

by-nl identity matrix In and the matrix S; i.e., S = In ⊗

l l

S. (22).

This way, rotational symmetry of the whole

structure is formulated as a linear equation with 4.1.1 Constraints on Force Densities

respect to the generalized nodal coordinate vector X in The force density matrix E is defined by the given

xy-plane, which will be incorporated in the second connectivity C and the unknown force densities q. If

we assemble the columns of E as a vector g ∈ n ,

2

design stage of the proposed method to determine the

final configuration. then q and g can be written in a linear form as follows

through a constant matrix B ∈ n ×m [5]

2

Suppose that the elevation (z-coordinates of the Bq = g (21)

structure) of the structure is assigned by the designer.

Hence, z-coordinates z of all the nodes are determined In each row of B, there are only two nonzero

a priori, and we have to assure that the final elements +1 and –1.

configuration of the structure has precisely these given So far, we have three linear equations (5), (20) and

z-coordinates. (21) with respect to q, which are related to rotational

Since the relation symmetry, constraint on elevation and the force

density matrix, respectively. The geometrical

diag(q)Cz = diag(Cz)q (18) constraints (5) and (20) are combined as

H

direction can be rewritten with respect to q as

If the rank of the matrix A in Eq. (22) is equal to the

Cdiag(Cz)q = 0 (19) number of members m, the geometrical constraints

should be relaxed because there exists no non-trivial

By letting H = Cdiag(Cz), the geometrical solution satisfying these constraints. If its rank is less

constraints on the elevation of a tensegrity structure than m, then the solution of q can be written as

with respect to q can then be written as

q = Ψα (23)

Hq = 0 (20)

Form-finding of Tensegrity Structures Subjected to Geometrical Constraints

–

where α is a coefficient vector, and the columns of the It is clear that Ei has the necessary rank deficiency r*.

matrix Ψ span the solution space of Eq. (22). Note that Eqs. (26) and (28) are iteratively computed until

Ψ is also a constant matrix when the constraints are Ei+1 corresponding to qi+1 calculated by Eq. (26)

given. Since the force densities define E, which has to satisfies the necessary non-degeneracy condition. The

satisfy the non-degeneracy condition (4), the algorithm of finding these feasible force densities qi+1

coefficient vector α cannot be selected arbitrarily. is summarized as follows:

From Eqs. (21) and (23) we have

Algorithm 1: Feasible force densities

g = BΨα (24) Step 0: Give an initial q0 to obtain E0 by Eq. (2). Set

i:= 0.

Since BΨ in Eq. (24) is usually full-rank and not Step 1: Assign zero to the r* smallest (absolute)

–

square, a can be computed as follows by using the eigenvalues of Ei and reconstruct Ei by Eq.

least square method (28).

Step 2: Obtain gi+1, calculate qi from Eq. (26) and

α = (BΨ)–g (25) update Ei+1 by Eq. (2).

Step 3: If Eq. (4) holds, then let q̂ = qi+1, compute Ê

where ( )– denotes the generalized inverse matrix. and terminate the algorithm; otherwise, set

Suppose that we have a force density matrix Ei with i ← i + 1 and return to Step 1.

the necessary rank deficiency (ri =)r* at the ith step of

the iterative algorithm. Ei is calculated by Eq. (2) with 4.2 Configuration (Second Design Stage)

its corresponding force density vector qi. The elements If elevation of the structure is assigned as a

of Ei are assembled to construt the vector gi. From geometrical constraint, the z-coordinates of the

Eqs. (23) and (25), we have a new version of the force structure are known a priori. The only unknown

density vector qi+1 as follows parameters are the nodal coordinates in xy-plane,

which should satisfy the constraint (17) on rotational

qi+1 = Ψ(BΨ)–gi (26) symmetry and the self-equilibrium equations (1.1) and

(1.2). These constraints are combined to the following

Note that qi+1 may not be equal to qi, so Ei+1 linear equation with respect to the nodal coordinates X

corresponding to qi+1 may not have the necessary rank in xy-plane

deficiency and has to be recomputed based on the E ⊗ I2

eigenvalue analysis and spectral decomposition X=0 (29)

S

introduced below.

Eq. (29) should have non-trivial solutions for X

4.1.2 Algorithm for Feasible Force Densities written as follows, otherwise the constraints need to be

The force density matrix Ei is symmetric and can be relaxed

decomposed as [8]

X = Ωβ (30)

Ei = ΦiΛi(Φi) (27)

where β is a coefficient vector. Dimension rc of the

where columns of Ei ∈ n×n are the eigenvectors of vector β indicates that we can arbitrarily specify rc

Ei, and the diagonal elements {λi1, λi2, …, λin} of the independent xy-coordinates to determine all the other

diagonal matrix Λi ∈ n×n are the eigenvalues. coordinates of the structure. The specified coordinates

Because the rank deficiency r is defined by the are denoted by Xc ∈ ℜr , and the rows of Ω

c

number of zero eigenvalues of Ei, we can make it have corresponding to Xc are assembled as Ωc ∈ ℜr ×r .

c c

assigning r* zero to the elements in the leading

diagonal of Λi. The best way to do this is to assign zero X = Ω(Ωc)–1Xc (31)

to the elements (eigenvalues) with the smallest values.

–

This way, the diagonal matrix Λi becomes Λi, and the This way, configuration of the structure in terms of

–

force density matrix is updated as Ei: nodal coordinates can be uniquely determined

– – together with the z-coordinates assigned by the

Ei = ΦiΛi(Φi) (28) designers.

J.Y. Zhang and M. Ohsaki

There can be many ways to specify the independent to uniquely determine the self-equilibrated

set of nodal coordinates Xc. A method for identifying configuration.

the dependent nodal coordinates based on the Reduced

Row-Echelon Form (RREF) of Ω was presented in In the proposed form-finding process for tensegrity

[9], where the designers specify the independent nodal structures, the unknown parameters are force densities

coordinates one by one. The independent nodal and nodal coordinates. As will be demonstrated in the

coordinates can also be determined in only one step numerical examples, we can search for new

based on the RREF of Ω, for which a simple example configurations of a structure with given topology by

can be found in [5]. changing the values of these parameters in Steps 2, 3,

5 and 7.

4.3 Algorithm Summary We use the value in the following equation to

The process of finding the self-equilibrated configuration validate the accuracy of the numerical computations

of a tensegrity structure subjected to geometrical

constraints, which can be written in linear forms with = √

(Ex)(Ex) + (Ey)(Ey) + (Ez)(Ez) (32)

respect to force densities and nodal coordinates, is

divided into the following two design stages: When is small enough, it is considered that the

finial self-equilibrated configuration determined by

Algorithm 2 – Form-finding Process the proposed numerical method satisfies the self-

First Stage: Feasible Force Densities equilibrium equations with high accuracy.

(1) Specify the topology.

(2) Formulate the geometrical constraints in linear 5. TENSEGRITY TOWER

forms with respect to force densities. Tensegrity tower, e.g., an example structure shown in

(3) Assign an initial set of force densities. Fig.4, is a special kind of tensegrity structures. It has one

(4) Find the feasible force densities by Algorithm 1. or more layers and at least three struts in each layer. The

needle tower invented and built by Kenneth Snelson in

Second Stage: Configuration Bryant Park in New York may be one of the best-known

(5) Formulate the geometrical constraints in linear tensegrity towers. Tensegrity towers will be used as

forms with respect to nodal coordinates. numerical examples in the next section to demonstrate

(6) Incorporate the geometrical constraints with the capability of the proposed method in finding the

respect to nodal coordinates into the self- desired configurations satisfying the geometrical

equilibrium equations. constraints. In this section, a detailed description of the

(7) Specify an independent set of nodal coordinates geometrical properties and topology of them is given.

Fig. 4. A symmetric three-layer tensegrity tower with three struts in each layer.

Form-finding of Tensegrity Structures Subjected to Geometrical Constraints

Suppose that a tensegrity tower with nb-foldrotational In order to formulate the connectivity matrix C in a

symmetry has nl layers (orbits of struts) and nb struts simple manner for a tensegrity tower with any number

in each layer. The struts in each layer belong to the of layers (nl ≥ 1) and any number of struts (nb ≥ 3) in

same orbit. The nodes that have the same z-coordinate each layer, topology of a general tensegrity tower is

are said to be in the same plane. Thus, each layer has defined in this subsection.

two different planes – the bottom and the top planes. The nodes in the bottom and top planes of layer k

b t

Since no strut physically contacts any other strut, are respectively labelled by pk,j and pk,j as

the number n of nodes of a tensegrity tower is

b

pk,j = 2(k – 1)nb + j

(j = 1, …, nb) (37)

n= 2nlnb (33) t

pk,j = (2k – 1)nb + j

the following four types as shown in Fig.4.(c), based 5.3.1 Struts

on the connectivity between members and nodes [10]: The jth strut PBk,j in layer k is connected by nodes pk,j

b

t

and pk,j in different planes:

• Horizontal cables that connect the nodes in the

same plane. They can only exist in the bottom PBk,j = [pk,j

b t

, pk,j ] (38)

plane of the lowest layer and the top plane of the

highest layer. where [i, j] indicates that nodes i and j are connected

• Vertical cables that are connected by the nodes in to construct a member. A simple example with nb = 3

the top and bottom planes of the same layer. is illustrated in Fig.5, where the vertical and diagonal

• Saddle cables that connect the nodes in different cables are removed for clarity.

planes of the adjacent layers, e.g., the top plane 5.3.2 Horizontal and Saddle Cables

of layer k and the bottom plane of layer k + 1. For the one-layer tensegrity towers (nl = 1), e.g., the

• Diagonal cables that connect the nodes in the structure as shown in Fig.1, it has been proved that the

same top (or bottom) planes of the adjacent structure is guaranteed to be stable, irrespective of

layers, e.g., the top (or bottom) plane of layer k selection of materials and level of self-stresses, if and

and the top (or bottom) plane of layer k + 1. only if the horizontal cables are connected by the

adjacent nodes [11]. Although the structures can still

5.2 Elevation be possible to be stable in the other cases as discussed

Denote height of the ith layer by Hi (i = 1, …, nl), and in [12], the horizontal and saddle cables are assumed

the overlap between two adjacent layers i and i–1 by to connect by the adjacent nodes as shown in Fig.5 in

hi (i = 1, …, nl) where h1 = 0 always holds. The total this study, in order to avoid the risk of generating an

height H of the structure can be computed by unstable structure. Thus, the connectivity of horizontal

nl and saddle cables are given as follows:

H = ∑ (Hi – hi) (34)

i=1

t

The z-coordinates zk ofthe nodes in the top plane of

layer k (k = 1, …, nl) can be determined as

k

zkt = ∑ (Hi – hi) (35)

i=1

plane of layer k can be computed by

determined.

Fig. 5. An example of connectivity of struts, horizontal cables

and saddle cables.

J.Y. Zhang and M. Ohsaki

(a) cv = 1 (b) cv = 2

Fig. 6. An example of connectivity of vertical cables in layer k.

H

• horizontal cables Pk,j and PnHl,j are connected by • diagonal cable: The connectivity of the diagonal

the adjacent nodes in the bottom and top planes cables are defined by using an integer

of the lowest and highest layers, respectively, as cd ∈ {0, …,nb – 1} as

Db b

H

P1,j = [pb1,j, pb1,j+1] Pk,j = [pk,j , pbk+1,j+cd]

(j = 1, …, nb) (39) (43)

PnHl,j = [pbnl, pbnl,j+1] PDk,jt = [pk,j

t

, pbk+1,j+cd]

• saddle cables are connected by the nodes in the where j = 1, …, nb, k = 1, …, nl – 1, and j + cd =

top plane of layer k and the bottom plane of layer j + cd – nb if j + cd > nb.

k + 1 as

From a general nl-layer tensegrity tower with nb

PSk,2j–1 = [pk,j

t

, pbk+1,j] struts in each layer, the numbers of struts mb,

S b t (40) horizontal cables mh, vertical cables mv, saddle cables

Pk,2j = [pk+1,j, pk,j+1 ]

ms and diagonal cables md can be written as

where j = 1; …, nb and k = 1, …, nl–1.

mb = nlnb, mh = 2nb,

The following relations have been used in Eqs. (39) ms = 2(nl – 1)nb, mv = nlnb, (44)

and (40) for brevity. md = 2(nl – 1)nb,

t t

b+1 = pk,1 (41) and the number m of all members of the structure is

5.3.3 Vertical and Diagonal Cables

Connectivity of vertical and diagonal cables is not Following the definition of connectivity of each

unique. For example, it may be noticed in Figs. 6(a) type of members and the numbering in Eq. (37), the

t

and (b) that pk,1 is connected to pbk,2 and pbk,3 by the connectivity matrix C ∈ ℜm×n can be easily

vertical cables, respectively, leading to different constructed.

topology. To illuminate this difference, we introduce

the parameters cv and cd to define the connectivity of 6. NUMERICAL EXAMPLES

vertical and diagonal cables as follows: In this section, several tensegrity towers with different

numbers of layers and struts in each layer are considered

• vertical cable: The connectivity of the vertical cables as numerical examples. They are used to investigate the

are defined by using an integer cv ∈ {1, …, nb} as validity of the proposed method and to demonstrate its

capacity of systematically finding self-equilibrated

V t t

Pk,j = [pk,j , pk,j +cv] (42) configurations subjected to geometrical constraints.

In the following examples, the connectivities of

where j = 1, …, nb, k = 1, …, nl, and j + cv = j + vertical and diagonal cables are fixed as cv = 1 and

cv – nb if j + cv > nb. cd = 0 for simplicity. The r*(= 4) eigenvalues of the

Form-finding of Tensegrity Structures Subjected to Geometrical Constraints

Fig. 7. A three-layer tensegrity tower with four struts in each layer.

force density matrix with the smallest values are same obit are also classified into one group, so that the

assigned to zero in Algorithm 1, in order to obtain a members in the same group have the same force

non-degenerate structure in three-dimensional space. densities. In total, there are 14 groups.

In the numerical computations, eigenvalues of the As an example, we assign the elevation of the

force density matrix are regarded as zero if they are structure as listed in Table 1. Note that the heights of

less than 10–14. every layer and the overlaps are not uniform. The total

height H of the structure is 19.0.

Table 1. Elevation of the three-layer tensegrity To start Algorithm 1 in the first design stage, the

tower. initial force densities of all struts and all cables are

assigned as –1 and +1, respectively. Algorithm 1 runs

H1 H2 H3 h1 h2 h3 H 394 iterative steps for finding the feasible force

10.0 8.0 6.0 0.0 3.0 2.0 19.0 densities as listed in Table 2, where qbi, qhi, qvi, qsi and

qdi denote the force densities of the groups of struts,

horizontal cables, vertical cables, saddle cables and

6.1 Three-layer Tensegrity Tower

diagonal cables in layer i, respectively.

Consider a tensegrity tower as shown in Fig.7 as the

The final force density matrix Ê has four zero

first example structure. It consists of three layers and

eigenvalues and 20 positive eigenvalues. Hence, Ê has

four struts in each layer; i.e., nl = 3 and nb = 4. The

rank deficiency of four, which satisfies the non-

structure is composed of 24 nodes and 64 members,

degeneracy condition of a tensegrity structure in three-

including 12 struts, 8 horizontal cables, 12 vertical

dimensional space.

cables, 16 saddle cables and 16 diagonal cables. To

In the second design stage, there are up to four

simplify the computation, the saddle cables that are

independent coordinates in xy-plane that can be

continuously connected to each other are classified

arbitrarily specified, while the constraint of four-fold

into one group, and other types of members in the

rotational symmetry is considered. Based on the

–1.1656 –1.1226 –1.2366 1.2758 1.2652 0.5718

J.Y. Zhang and M. Ohsaki

Fig. 8. New configuration of the symmetric three-layer tensegrity tower with the same force densities and coordinates in z-

direction but different coordinates in xy-plane.

set of nodal coordinates described in [9], the xy- As a more complex example, a ten-layer tensegrity

coordinates of the nodes pb1,1 and p1,1

t

connected by the tower as shown in Fig.9 with four struts in each layer;

B

strut P 1,1 in the lowest layer are selected to be i.e., nl = 10 and nb = 4, is considered. The structure is

specified. Note that this is not the only independent set composed of 80 nodes and 232 members.

of coordinates. If the xy-coordinates of these two For simplicity, the heights and overlaps are

nodes are specified as (10.0, 0.0) and (2.5, 4.0), then uniformly assigned as Hi = 10.0 and hi = 2.0 except for

the configuration of the structure is uniquely h1 = 0.0, respectively. The total height H is 82.0.

determined as shown in Fig.7. It is easy to observe Constraint on rotational symmetry is also incorporated

from the top view of the structure that the struts in the for this structure. The initial force densities of all

same layer (orbit) are rotationally symmetric by the struts and cables are given as –1 and +1, respectively.

angle π/2. After 511 iterative steps in Algorithm 1 for finding

If the same nodal coordinates in xy-plane are the feasible force densities, four independent nodal

specified to the strut PB2,1 in the second layer, coordinates in xy-plane need to be specified for this

configuration of the structure is then uniquely symmetric ten-layer tensegrity tower. If the xy-

determined as shown in Fig.8. This new configuration coordinates of the nodes pb2,1 and p2,1

t

connected by the

of the structure becomes slightly slender compared to B

strut P2,1 in layer 2 are specified as (10.0, 0.0) and

the configuration in Fig.7. Note that only the nodal (2.5, 4.0), its configuration is obtained as shown in

coordinates in xy-plane have been changed in the Fig.9, where the top view and the front view have been

second stage of the form-finding process. Therefore, drawn in different scales.

Algorithm 1 need not be applied again to find the The force density matrix of this structure is positive

feasible force densities. semi-definite with four zero eigenvalues. So the

From the sufficient conditions for stability of necessary condition for a non-degenerate tensegrity

tensegrity structures presented in [7], where the force structure is satisfied. Moreover, from the sufficient

density matrix should be positive semi-definite with conditions for stability of tensegrity structures in [7],

minimum rank deficiency and rank of the geometry this structure is also guaranteed to be stable.

matrix should be six for three-dimensional structures, In all of the examples presented in this section, the

both of the structures considered above are guaranteed errors calculated by Eq. (32) are within 10–10. Hence,

to be stable irrespective of selection of materials and it can be concluded that the final configurations in

level of self-stresses.

Form-finding of Tensegrity Structures Subjected to Geometrical Constraints

Fig. 9. A ten-layer tensegrity tower with four struts in each layer.

satisfy the self-equilibrium equations precisely. (3) an initial set of force densities;

By modifying the values of the initial force (4) an independent set of nodal coordinates.

densities and the independent nodal coordinates, more

new and interesting configurations can be Tensegrity towers were used as numerical examples

systematically found. to illustrate the capability of the proposed method for

finding proper configurations subjected to given

7. DISCUSSIONS AND CONCLUSIONS geometrical constraints. Moreover, based on the

A substantial improvement to the adaptive force detailed description of the geometry of tensegrity

density method has been made for finding self- towers, designers can avoid the tedious job of

equilibrated configurations of tensegrity structures to modelling their topology, so as to concentrate on

satisfy the specified geometrical constraints. The design aspect according to their preferences.

geometrical constraints are formulated in linear forms Besides tensegrity towers, the proposed method can

with respect to force densities and nodal coordinates also be applied to other types of tensegrity structures

so as to incorporated into the adaptive force density subjected to geometrical constraints. And any other

method. The proposed form-finding process is divided kinds of geometrical constraints can also be

into two design stages: (1) finding the feasible force incorporated into the proposed form-finding process

densities that satisfy the non-degeneracy condition for as long as they can be formulated in linear forms with

tensegrity structures and linear constraints with respect to force densities and nodal coordinates,

respect to them, and (2) determining the self- similar to the example constraints on rotational

equilibrated configuration that satisfies the self- symmetry and elevation considered in this study.

equilibrium equations as well as linear constraints Positive definiteness of the tangent stiffness matrix

with respect to nodal coordinates. of a structure is widely adopted as the stability of a

In the proposed form-finding process, the following structure in the field of structural engineering. The

parameters are necessary as inputs: tangent stiffness matrix is the sum of the linear and

geometrical stiffness matrices. The linear stiffness

(1) topology;

J.Y. Zhang and M. Ohsaki

definiteness of the geometrical stiffness matrix [1] Fuller, R.B., 1975. Synergetics, Explorations in the

depends on the distribution of self-stresses. Because Geometry of Thinking. Collier Macmillan, London, UK.

[2] Ohsaki, M. and Zhang, J.Y., 2006. Stability conditions of

the geometrical stiffness matrix is composed of the

prestressed pin-jointed structures. Int. J. Non-Linear

force density matrix as formulated in [5], ensuring a Mechanics, 41, 1109-1117.

positive semi-definite force density matrix will tend to [3] Linkwitz, K. and Schek, H.-J., 1971. Einige

lead to a stable structure, although some other Bemerkungen zur Berechnung von vorgespannten

conditions should also be satisfied to be the sufficient Seilnetzkonstruktionen. Ingenieur-Archiv. 40, 145-158.

[4] Vassart, N. and Motro, R., 1999. Multiparametered

conditions [7]. Hence, assignment of zero to smallest formfinding method: application to tensegrity systems.

eigenvalues to get rid of the negative eigenvalues of Int. J. Space Struct., 14(2), 147-154.

the force density matrix in Algorithm 1 will naturally [5] Zhang, J.Y. and Ohsaki, M., 2006. Adaptive force density

lead to positive semi-definite force density matrix and method for form-finding problem of tensegrity

structures. Int. J. Solids Struct., 43, 5658-5673.

then to a stable structure. [6] Harary, F., 1969. Graph Theory. Addison-Wesley,

By applying the proposed method, we can have Reading, MA.

direct and exact controls over some geometrical [7] Zhang, J.Y. and Ohsaki, M., 2006. Stability Conditions

properties, but it is unlikely to control all aspects of a for Tensegrity Structures. Int. J. Solids Struct., in press.

[8] Lay, D.C., 1996. Linear Algebra and Its Applications,

tensegrity structure, which is considered as one of the

2nd edition. Reading, MA: Addison-Wesley.

common shortcomings of the family of force density [9] Zhang, J.Y., Ohsaki, M. and Kanno, Y., 2006. A direct

method. For example, it is not easy to exactly assign approach to design of geometry and forces of tensegrity

the lengths of all members, because these constraints systems. Int. J. Solids Struct., 43, 2260-2278.

are not easy to be written in linear terms with respect [10] Sultan, C., Corless, M. and Skelton R.E., 2002.

Symmetrical reconfiguration of tensegrity structures. Int.

to force densities and nodal coordinates. J. Solids Struct., 39, 2215-2234.

[11] Connelly, R. and Terrell, M., 1995. Globally rigid

ACKNOWLEDGEMENT symmetric tensegrities. Structural Topology, 21, 59-78.

The first author acknowledges support from The [12] Zhang, J.Y., Guest, S.D. and Ohsaki, M., 2006.

Kyoto University Foundation and thanks Dr. Simon D. Symmetric prismatic tensegrity structures: part I.

Guest of Cambridge University for his helpful configuration and stability. Int. J. Solids Struct.,

submitted.

suggestions in writing the paper.

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