General Class of Tensegrity Structures: Topology and Prestress Equilibrium Analysis Academic Article uri icon


  • A general class of tensegrity structures, consisting of both compression members, that is, bars, and tensile members, that is, cables, is defined. For a given number N of bars, we define the topological structure that is necessary to establish a tensegrity. Necessary and sufficient conditions for prestress mechanical equilibria of the tensegrity are then provided in terms of a nonlinear function of the position and orientation of the bars and the rest lengths of the cables.

published proceedings

  • Journal of Guidance Control and Dynamics

author list (cited authors)

  • Williamson, D., & Skelton, R. E.

citation count

  • 9

complete list of authors

  • Williamson, Darrell||Skelton, Robert E

publication date

  • September 2003