Design and Cushioning Performance Analysis of Spherical Tensegrity Structures

This study aims to design a novel combined spherical tensegrity structure and evaluate its cushioning performance to offer a new option for a planetary exploration landing mechanism. Initially, based on the circumferential assembling method, a “class II” spherical tensegrity structure was constructed using the square frustum tensegrity unit as the basic element. Then, the equilibrium equations for the structure were formulated in accordance with the principle of virtual work to confirm the self-equilibrium of the tensegrity configuration, and the stability of the designed structure was assessed by determining the type of the tensegrity structure according to the Maxwell criterion and the character of the stiffness matrix. Subsequently, the simulation and analysis of the compressive stiffness of the structure under different parameters were carried out based on the finite element analysis method. The landing collision was simulated by using dynamic software to analyze the influence of the structure parameters on the cushioning performance. Finally, an experimental model was built to verify the above analysis, which demonstrates that the designed spherical tensegrity structure offered a large loading space and great cushioning performance.