CONTENTS
Notations vii
Preface I xi
Preface II xiii
Acknowledgements xv
1. Introduction 1
2. History and Definitions 7
2-1. History 7
2-2. Definitions 17
2-3. Conclusion 31
3. Fundamental Concepts 33
3-1. Introduction 33
3-2. Relational structure 33
3-3. Geometry and stability 36
3-4. Self-stress states and mechanisms 43
3-5. Conclusion 49
4. Typologies 51
4-1. Introduction 51
4-2. Typology criteria and codification 52
4-3. Elementary or "spherical" cells 55
4-4. Assemblies of cells 70
4-5. Conclusion 86
5. Models 89
5-1. Introduction 89
5-2. Problems to solve 89
5-3. Form-finding 90
5-4. Self-stress and mechanisms 112
5-5. Self-stress qualification 122
5-6. Designing tensegrity systems 127
5-7. Active control 139
5-8. Conclusion 143
6. Foldable Tensegrities 147
6-1. Introduction 147
6-2. Folding principle 147
6-3. Foldable modules 15 5
6-4. Foldable assemblies 162
6-5. Folding design 166
6-6. Simulation of the folding process 174
6-7. Modelling the contact of two struts 180
6-8. Conclusion 187
7. Tensegrity: Latest and Future Developments 189
7-1. Introduction 189
7-2. New tensegrity grids 189
7-3. Other projects 205
7-4. Tensegrity as a structural principle 213
7-5. Conclusion 217
Appendices 219
Bibliography 229
Index 237