The method of constrained particle dynamics is used to develop a dynamic model of order 12N for a general class of tensegrity structures consisting of N compression members (i.e. bars) and tensile members (i.e. cables). This model is then used as the basis for the design of a feedback control system which adjusts the lengths of the bars to regulate the shape of the structure with respect to a given equilibrium shape. A detailed design is provided for a 3-bar structure.

Abstract. In this paper, we develop a passive nonlinear constrained particle dynamic model for a class of tensegrity platform structures. Based on the steady state input-output mapping, we then formulate a neural network inversion problem which is later used as the basis for the design of large scale path tracking algorithms.

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