General Class of Tensegrity Structures: Topology and Prestress Equilibrium Analysis
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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.
author list (cited authors)
Williamson, D., & Skelton, R. E.