Numerical form-finding of tensegrity structures

A novel and versatile numerical form-finding procedure that requires only a minimal knowledge of the structure is presented. The procedure only needs the type of each member, i.e. either compression or tension, and the connectivity of the nodes to be known. Both equilibrium geometry and force densities are iteratively calculated. A condition of a maximal rank of the force density matrix and minimal member length, were included in the form-finding procedure to guide the search of a state of self-stress with minimal elastic potential energy. It is indeed able to calculate novel configurations, with no assumptions on cable lengths or cable-to-strut ratios. Moreover, the proposed approach compares favourably with all the leading techniques in the field. This is clearly exemplified through a series of examples.