Equilibria and stiffness of planar tensegrity structures Conference Paper uri icon


  • Tensegrity is a light weight deployable structure that is composed of compressive and tensile members. However, the compressive members, which are made of common metallic structural materials, are not mass-efficient. In this paper, we replace the compressive member with "self-similar" tensegrity structure that has same strength but less mass. We start with a non-tensegrity structure called C4T1i and show that it can be designed to have the same strength but less weight compared with the compressive member to be replaced. The stiffness-to-mass ratio of the C4T1i structure, however, is compromised. We then modify the C4T1i structure to a tensegrity structure called C4T2i by adding another set of string(s) with pre-stress. It can be shown that C4T2i is a better substitute of the compressive members in a structure because of less mass and same strength but higher stiffness-to-mass ratio.

published proceedings

  • Advances in the Astronautical Sciences

author list (cited authors)

  • Chan, W. L., & Skelton, R. E.

complete list of authors

  • Chan, WL||Skelton, RE

publication date

  • December 2002