Symmetric Prismatic

Tensegrity Structures

Jingyao Zhang
Simon D. Guest
Makoto Ohsaki

Objective

2/13

1, 1
4

1, 1
5

D
1, 1
D
3

Prismatic Tensegrity Structure

1, 1
9

Dihedral Symmetry

Self-equilibrated Configuration
Connectivity

Stability Properties
Connectivity

Configuration

h,v
Configuration Dn

3/13

6 Nodes
3 Struts
6 Horizontal
3 Vertical

The simplest prismatic tensegrity structure D1,1

3

h,v
Dihedral Symmetry Dn

4/13

n=3

E (C03)

C31, C23

three-fold rotation

C21, C22 , C23

3 two-fold rotations
D3 Symmetry

h,v
Connectivity Horizontal Cables Dn

5/13

1
h=1
5

9
7

3
2

1
h=2
5

9
7

h,v
Connectivity Vertical Cables Dn

6/13

v=1
5
6

9
7

1
0
v=2
6

5
9

Self-equilibrium

7/13

xh

x0

xnh

Ax 0 0
x0

A singular

qv qs

xn

xnv

qh / qv 2(1 cos(2v / n)) /(1 cos(2h / n))

symmetry

x1 , x 2 ,K , xi ,K , x 2 n1

Stability Criterion

K E 0 or

Q M K GM 0
T

M mechanism

Diagonalisation

infinite stiffness

Block

K K E KG 0

8/13

0
0

%
Q

9/13

Stability
h 1

KG 0

D1,1
8

Q0
D1,2
8

D1,3
8

Stable

h 1

Stable

KG ? 0

D82,1

Stable

Q?0

?
D82,3

D82,2

Unstable

Stable

Divisible

Conditionally Stable

2,2
Divisible Structures D6

2,2
6

10/13

1,1
3

1,1
3

Numerical Investigation

11/13

r
H

D82,3

2,1
8

Catalogue

12/13

Please note in the paper that there are some mistakes on n, h and v.

Summary

13/13

Symmetry

Prismatic Tensegrity Structure

Self-equilibrated Configuration
Stability

Divisibility

Connectivity

Horizontal Cable
Vertical Cable

Configuration

Height / Radius

http:// tensegrity.AIStructure.com/prismatic

3,2
D7