Article

CLOSED-FORM EQUILIBRIUM ANALYSIS OF A PLANAR TENSEGRITY STRUCTURE

01/2004; DOI: 10.1115/DETC2007-34249

ABSTRACT This paper presents a closed-form analysis of a two-spring planar tensegrity mechanism to determine all possible equilibrium configurations for the device when no external forces or moments are applied. The equilibrium position is determined by identifying the configurations at which the potential energy stored in the two springs is a minimum. A 28th degree polynomial expressed in terms of the length of one of the springs is developed where this polynomial identifies the cases where the change in potential energy with respect to a change in the spring length is zero. A numerical example is presented.

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