Linear Closed-form Solution and Finite-element Analysis of an Active Tensegrity Unit

Results of the linear closed form solution of an active or adaptive tensegrity unit, as well as its numerical analysis using finite element method are presented in the paper. The shape of the unit is an octahedral cell with a square base and it is formed by thirteen members (four bottom and four top cables, four edge struts and one central strut). The central strut is designed as an actuator that allows for an adjustment of the shape of the unit which leads to changes of tensile forces in the cables. Due to the diagonal symmetry of the 3D tensegrity unit the closed-form analysis is based on the 2D solution of the equivalent planar biconvex cable system with one central strut under a vertical point load.