Experimental shape control of cylindrical triplex tensegrity structures

Nate S. Osikowicz, Kaila M. Roffman, Puneet Singla, George A. Lesieutre

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


Owing to their shape morphing capabilities and biomimetic nature, tensegrity structures offer a lightweight, adaptable, alternative to classical truss structures. Tensegrities comprise a collection of axially loaded compressive members (bars or struts) stabilized by a network of tension members (strings or cables), resulting in flexible structures which can be pre-stressed and actively controlled to change their shape. In this research, we study the morphing capabilities of the cylindrical triplex tensegrity by actively changing the length of the structure's internal cable network. A geometric approach is used to characterize the full range of statically equilibrated shapes of a cylindrical triplex tensegrity structure. Then, trajectories are designed from a subset of equilibrated shapes and implemented in open-loop on an experimental triplex structure.

Original languageEnglish (US)
Title of host publicationActive and Passive Smart Structures and Integrated Systems XVI
EditorsJae-Hung Han, Shima Shahab, Jinkyu Yang
ISBN (Electronic)9781510649613
StatePublished - 2022
EventActive and Passive Smart Structures and Integrated Systems XVI 2022 - Virtual, Online
Duration: Apr 4 2022Apr 10 2022

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


ConferenceActive and Passive Smart Structures and Integrated Systems XVI 2022
CityVirtual, Online

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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