Network and vector forms of tensegrity system dynamics Academic Article uri icon


  • We write the equations of motion in vector form for any class k tensegrity system dynamics. The network approach yields a connectivity matrix and nodal matrix, providing the dynamics of any network of bars, pipes and cables. The class 1 (bars do not connect) dynamics are described together with a constraint added to allow bar to bar connections. Damping and gravity forces as well as base movement can be handled in a unified framework. The constraint force is eliminated to yield a compact set of vector equations. 2014 Elsevier Ltd.

published proceedings

  • Mechanics Research Communications

author list (cited authors)

  • Nagase, K., & Skelton, R. E.

citation count

  • 22

complete list of authors

  • Nagase, K||Skelton, RE

publication date

  • July 2014