Linear parametric models of tensegrity structures
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abstract
In this paper we derive the linear equations of motion for tensegrity structures around arbitrary equilibrium solutions and cast them in vector second order form. For certain tensegrity structures which yield particular equilibrium configurations easily parameterized we present the corresponding linear models and identify the structure of the linear models matrices in terms of the geometrical and inertial parameters of these structures. Analytical and numerical evidence is presented which shows that these equilibria are stable.
