Self-Equilibrium Analysis and Minimal Mass Design of Tensegrity Prism Units

This paper provides a specific analysis strategy for tensegrity prism units with different complexities and connectivity. Through the nodal coordinate matrix and connectivity matrix, we can establish the equilibrium equation of the structure in the self-equilibrium state, and the equilibrium matrix can be obtained. The Singular Value Decomposition (SVD) method can find the self-equilibrium configuration. The torsional angle formula between the upper and bottom surfaces of the prismatic tensegrity structure, which includes complexity and connectivity, can be obtained through the SVD form-finding method. According to the torsional angle formula of the self-equilibrium configuration, we carry out the mechanical analysis of the single node, and the force density relationship between elements is gained. As one of the standards, the mass is used to evaluate the light structure. This paper also studied the minimal mass of the self-equilibrium tensegrity structure with the same complexity in different connectivity and got the minimal mass calculation formula. A six-bar tensegrity prism unit is investigated in this paper, which shows the feasibility of systematic analysis of prismatic structures. This paper provides a theoretical reference for prismatic tensegrity units.