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Tensegrity
Tensegrity
m1 = n3 - n1;
m2 = n2 - n4;
m3 = n2 - n1;
m4 = n3 - n2;
m5 = n4 - n3;
m6 = n1 - n4;
ListLinePlot[{{n2, n4, n1, n3}, {n1, n2, n3, n4, n4, n1}},
PlotStyle → {{Black, Thick}, Red}, Axes → False]
Out[ ]=
In[ ]:=
2 Tensegrity-Calculations.nb
Connectivity
Bars
In[ ]:= 1+2
Out[ ]= 3
-1 0 1 0
0 -1 0 1
In[ ]:= CB
Out[ ]= {{- 1, 0, 1, 0}, {0, - 1, 0, 1}}
Strings
In[ ]:= s1 = {0, 1, 0, 0} - {1, 0, 0, 0};
s2 = {0, 0, 1, 0} - {0, 1, 0, 0};
s3 = {0, 0, 0, 1} - {0, 0, 1, 0};
s4 = {1, 0, 0, 0} - {0, 0, 0, 1};
DS = Transpose[{s1, s2, s3, s4}];
CS = Transpose[DS];
TraditionalForm[CS]
Out[ ]//TraditionalForm=
-1 1 0 0
0 -1 1 0
0 0 -1 1
1 0 0 -1
Tensegrity Connectivity
In[ ]:= Unprotect[CC];
CC = ArrayFlatten[{{CB}, {CS}}];
TraditionalForm[CC]
Out[ ]//TraditionalForm=
-1 0 1 0
0 -1 0 1
-1 1 0 0
0 -1 1 0
0 0 -1 1
1 0 0 -1
Tensegrity-Calculations.nb 3
Members
In[ ]:= M = NN.Transpose[CC];
TraditionalForm[M]
Out[ ]//TraditionalForm=
-2 0 -1 -1 1 1
0 -2 1 -1 -1 1
Equilibrium
If the structure is in equilibrium, then, F=MΣC=0
In[ ]:= Λ = {{λ1 , 0}, {0, λ2 }};
Γ = {{γ1 , 0, 0, 0}, {0, γ2 , 0, 0}, {0, 0, γ3 , 0}, {0, 0, 0, γ4 }};
Σ = ArrayFlatten[{{- Λ, 0}, {0, Γ}}];
F = M.Σ.CC;
TraditionalForm[F]
TraditionalForm[Solve[F ⩵ 0, {λ1 , λ2 , γ1 , γ2 , γ3 , γ4 }]]
Out[ ]//TraditionalForm=
γ1 + γ4 - 2 λ1 γ2 - γ1 -γ2 - γ3 + 2 λ1 γ3 - γ4
γ4 - γ1 γ1 + γ2 - 2 λ2 γ3 - γ2 -γ3 - γ4 + 2 λ2
Solve: Equations may not give solutions for all "solve" variables.
Out[ ]//TraditionalForm=
{{λ2 → λ1 , γ1 → λ1 , γ2 → λ1 , γ3 → λ1 , γ4 → λ1 }}
Stiffness Matrix
Supose that the bars and strings have a linear material behavior, thus, one can prescribe constant
stiffnesses for the bars and strings, as follows:
4 Tensegrity-Calculations.nb
TraditionalForm[K]
Out[ ]//TraditionalForm=
γ ks ks γ γ ks γ ks
kb + γ + k s 0 -2 - 2 2
- 2
-kb 0 -2 - 2 2 2
-
ks γ γ ks γ ks γ k
0 ks 2
- 2
-2 - 2
0 γ 2
- 2
- 2 - 2s
γ ks ks γ γ ks γ ks
-2 - 2 2
- 2
ks 0 -2 - 2 2 2
- γ 0
ks γ γ ks γ ks γ k
2
- 2
-2 - 2
0 kb + γ + k s 2
- 2
- 2 - 2s 0 -kb
γ ks γ k γ ks ks γ
-kb 0 -2 - 2 2
- 2s kb + γ + k s 0 -2 - 2 2
- 2
γ ks γ k ks γ γ ks
0 γ 2
- 2
- 2 - 2s 0 ks 2
- 2
-2 - 2
γ ks γ ks γ ks ks γ
-2 - 2 2 2
- γ 0 -2 - 2 2
- 2
ks 0
γ ks γ k ks γ γ ks
2
- 2
- 2 - 2s 0 -kb 2
- 2
-2 - 2
0 kb + γ + k s
Modes
In[ ]:=