A computational framework for the form-finding and design of tensegrity structures

• A novel computational framework for the form-finding of tensegrity structures.
• Form-finding of tensegrity structures using unconstrained minimisation.
• Tensegrities with or without super-stability can be effectively generated.
• Form-finding of tensegrities with the geometrical and force requirements.

A new computational framework is proposed for the form-finding and design of tensegrity structures with or without super-stability. The form-finding of tensegrities is formulated as two unconstrained minimisation problems where their objective functions are defined based on eigenvalues of a modified force density matrix. The Nelder–Mead simplex method is then used to solve the minimisation problems. Furthermore, another efficient method is suggested for the interactive form-finding and design of tensegrities with geometrical and force constraints. Examples of the form-finding of tensegrities are presented and the results obtained are compared and contrasted with those analytical results documented in the literature, to verify the accuracy and efficiency of the developed methods.