Shape Control of Tensegrity Structures Conference Paper uri icon


  • 2015, American Institute of Aeronautics and Astronautics Inc, AIAA. All Rights Reserved. Tensegrity is a relatively new approach to structural design that has seen great advances in recent years. The unique properties of tensegrity structures allow for the design of deployable and lightweight structures|a combination highly applicable in the context of space systems. This work focuses on a rigorous development of shape control for tensegrity structures. The equilibrium configuration of a tensegrity structure is contingent on the tensions in its tensile members. As such, it is possible to effectively change the shape of the structure by changing those tensions. In pursuit of shape control, this work develops and demonstrates a methodology that permits calculation of the tensions that drive a given tensegrity structure from some initial configuration to some specified desired configuration. Simulation results are presented for two simple tensegrity structures: a 2D cross and a 3D prism. Results show that the approach successfully achieves shape control for simple tensegrity structures.

name of conference

  • AIAA SPACE 2015 Conference and Exposition

published proceedings

  • AIAA SPACE 2015 Conference and Exposition

author list (cited authors)

  • Henrickson, J. V., Skelton, R. E., & Valasek, J.

citation count

  • 6

complete list of authors

  • Henrickson, James V||Skelton, Robert E||Valasek, John

publication date

  • August 2015