Multistable Tensegrity Structures

摘要

Tensegrity structures have been intensively studied since they appeared in the 1950s. Their applications have been extended from architecture to other areas including aerospace structures, cell mechanics, and robotics. In this paper, an interesting characteristic, the so-called multistability, is reported. A detailed investigation on a multistable tensegrity structure whose basic stable configuration corresponds to the expanded octahedron tensegrity is presented. Using an evolutionary form-finding scheme, together with the dynamic relaxation method, two other self-equilibrated configurations with higher strain energies are found. The stabilities of these configurations are verified by a matrix analysis process. Then, an investigation on the actuations and the corresponding threshold energies triggering the transformations between the different configurations is carried out. A typical set of actuation loads and the corresponding threshold energies for the state transformations are identified. The existence and the stability of the multistable configurations are verified by physical models. This study provides a theoretical basis for the further applications of multistable tensegrity structures.