Tuning Tensegrity: Simplified Construction and Cable Tension Interactions

Abstract Tensegrity structures are comprised of compressive members held in static equilibrium with cables in tension. These structures have been modeled and studied extensively for its use in architectural, impact, robotic, and bio-inspired mechanisms. This has necessitated new methods of precisely constructing tensegrity structures and abilities to determine the prestressed state of said structures. This is made clear a gap in knowledge about how to measure individual cable tensions and understand the affect each has on every other cable in the system. This paper seeks to establish generalizable principles of tensegrity construction and pairs it with a novel application of the relationship between cable frequency and cable tension. Principles of tunable tensegrity are applied to a 6-bar, 24 string icosahedral tensegrity model and establish an easily scalable method of construction. Individual cable frequencies are measured using conventional hardware and free software which is then used to accurately estimate the tension. Finally an investigation is made into the relationships between cable tensions and the response of cable frequencies when one cable’s tension is manipulated.