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Procedia Engineering 153 (2016) 887 – 894

XXV Polish – Russian – Slovak Seminar “Theoretical Foundation of Civil Engineering”

On orthotropic properties of tensegrity structures

Anna Al Sabouni-Zawadzkaa, Wojciech Gilewskia *
a
Warsaw University of Technology, Faculty of Civil Engineering, Al. Armii Ludowej 16, 00-637 Warsaw, Poland

Abstract

The present paper focuses on the construction and the analysis of continuum models of different tensegrity structures. Single
tensegrity modules, as well as more complex structures based on them are considered. It is shown that the orthotropic systems
can be built using both the orthotropic and the anisotropic modules. An influence of additional elements, such as the connecting
cables, on the properties of the structure is presented. The analysed orthotropic systems have practical applications in civil
engineering.

©
© 2016
2016TheTheAuthors. Published
Authors. by by
Published Elsevier Ltd.Ltd.
Elsevier This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of the XXV Polish – Russian – Slovak Seminar “Theoretical
Peer-review under responsibility of the organizing committee of the XXV Polish – Russian – Slovak Seminar “Theoretical Foundation
Foundation of Civil Engineering.
of Civil Engineering”.
Keywords: tensegrity structures ; linear elasticity theory ; 3D continuum model ;technical coefficients ; anisotropy

1. Introduction

Tensegrities [6,7] can be defined as pin-jointed systems with a particular configuration of cables and struts that
form a statically indeterminate structure in a stable equilibrium. They consist of a discontinuous set of compressed
elements inside a continuous set of tensioned members, which have no compressive stiffness. Even very simple
tensegrity structures have a complicated geometry and some untypical, unique features that result from the
infinitesimal mechanisms balanced with self-stress states. In order to understand precisely their structural behaviour,
a continuum model [3,1,2,5] is proposed.

* Corresponding author. Tel.: +48-22-2345753

E-mail address: [email protected]

1877-7058 © 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the organizing committee of the XXV Polish – Russian – Slovak Seminar “Theoretical Foundation of Civil Engineering”.
doi:10.1016/j.proeng.2016.08.217
888 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894

The continuum model of tensegrity structures should enable to:

• estimate properties of the structure with typical deformation modes (tension, shear),
• evaluate the influence of self-stress on the defined deformation,
• evaluate the influence of cables and struts on the properties of the structure,
• compare the elastic properties of typical tensegrity modules,
• determine the technical coefficients,
• find a physical interpretation for the technical coefficients,
• determine the limitation conditions for the technical coefficients.
The results obtained from the continuum analysis can be used in design and construction of different types of
tensegrity systems, such as beams, plates or more complicated, multi-module structures.

2. Continuum model of tensegrity modules and structures

The continuum model [3] is based on the comparison between a strain energy of the tensegrity structure defined
with the use of the finite element method (FEM) [8] and a strain energy of a solid determined using the symmetric
linear 3D elasticity theory [4].
The strain energy of a tensegrity truss is a quadratic form of nodal displacements q:

FEM 1 T
Es = q Kq , (1)
2
where: K=K L +K G – the global linear and geometric stiffness matrix.
The self-stress of the structure (proportional to the tension force S 0 ) is represented by the geometric stiffness matrix.
The strain energy of a solid according to the symmetric linear 3D elasticity theory with the assumption of
constant strain density over volume can be expressed as:
1 V
E LES = ∫ İ T Eİ dV = İ T Eİ, (2)
s 2V 2

ZKHUHİ– the strain vector, E – the elasticity matrix.

In order to analyze mechanical properties of the structure, it is proposed to compare the strain energy of the
unsupported tensegrity structure to the strain energy of the cube of edge length a (Fig. 1). It is assumed that the
strain energy of the cube is constant in its whole volume.

Fig. 1. Tensegrity and continuum.

To compare the energies and build the equivalent matrix E, the nodal displacements are expressed by the
average mid-values of displacements and their derivatives with the use of Taylor series expansion. Coordinates of
nodal points {Į xi ÂDĮ yi ÂDĮ zi ·a} are expressed in Taylor series by the edge length a ZLWKWKHLQFUHPHQWVǻx = Į xi ·a,
ǻy = Į yi ·a, ǻz = Į zi ·a.
The proposed concept can be used to determine properties of simple tensegrity modules as well as more
complicated, multi-module structures.
In the general case of an anisotropic structure, the obtained elasticity matrix in Voight’s notation has the
following form:
 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894 889

⎡ e11 e12 e13 e14 e15 e16 ⎤

⎢ e22 e23 e24 e25 e26 ⎥⎥
⎢
⎢ e33 e34 e35 e36 ⎥ (3)
E=⎢ ⎥.
⎢ e44 e45 e46 ⎥
⎢ e55 e56 ⎥
⎢ ⎥
⎢⎣ sym. e66 ⎥⎦

It contains 36 coefficients, including 21 independent ones. The above matrix can take different, particular forms,
depending on the type of symmetry. It can be proved that there are exactly eight types of symmetry in the linear
theory of elasticity. The present paper focuses on orthotropic structures.

3. Description of selected modules

The example presented below concerns a continuum model of two tensegrity modules inscribed into a cube of
edge length a: a 4-strut simplex (Fig. 2) and an expanded octahedron (Fig. 3).
The analyzed simplex module (Fig. 2) is an anisotropic structure.

Fig. 2. An anisotropic tensegrity module – a 4-strut simplex.

After the process described in the previous chapter, the following equivalent elasticity matrix for the 4-strut
simplex was obtained:

⎡ e11 e12 e13 e14 0 0 ⎤

⎢ e11 e13 − e14 0 0 ⎥
⎢ ⎥ (4)
⎢ e33 0 0 0 ⎥
E=⎢ ⎥,
⎢ e12 0 0 ⎥
⎢ e13 0 ⎥
⎢ ⎥
⎢⎣ sym. e13 ⎥⎦

with 6 independent coefficients depending on the parameters related to the physical properties and the self-stress of
the module:
890 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894

2 EA
e11 = (0,314815 + 1,39827 ⋅ k − 0,0794978 ⋅ σ ),
a2
EA
e12 = (0,296296 + 0,707107 ⋅ k − 0,0134742 ⋅ σ ), (5)
a2
EA
e13 = (0,740741 + 0,357771 ⋅ k + 0,17247 ⋅ σ ),
a2
EA
e14 = (− 0,2222222 − 0,0808452 ⋅ σ ),
a2
2 EA
e33 = (0,592593 + 1,43108 ⋅ k − 0,17247 ⋅ σ ),
a2

where: k =
(EA)cable , (EA) = EA , σ =
S
.
(EA)strut strut
EA

The expanded octahedron presented below (Fig. 3) is an orthotropic structure.

Fig. 3. An orthotropic tensegrity module – an expanded octahedron.

The following geometric parameters were applied in order to obtain fully orthotropic system:

k l m (6)
α1 = = 0,65, α 2 = = 0,30, α 3 = = 0,56.
K L M

The equivalent elasticity matrix obtained from the analysis of the expanded octahedron has the following form:

⎡ e11 e12 e13 0 0 0 ⎤

⎢ e22 e23 0 0 0 ⎥
⎢ ⎥ (7)
⎢ e33 0 0 0 ⎥
E=⎢ ⎥,
⎢ e12 0 0 ⎥
⎢ e13 0 ⎥
⎢ ⎥
⎢⎣ sym. e23 ⎥⎦
 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894 891

with 6 independent coefficients:

2 EA
e =
11
(1 + 1,52325 ⋅ k + 0,129225 ⋅ σ ),
a2
EA
e =
12
(0,845615 ⋅ k − 0,105243 ⋅ σ ),
a2
(8)
EA
e =
13
(1,26604 ⋅ k − 0,153207 ⋅ σ ),
a2
2 EA
e
22
= (1 + 1,35912 ⋅ k + 0,137028 ⋅ σ ),
a2
EA
e
23
= (1,51283 ⋅ k − 0,168813 ⋅ σ ),
a2
2 EA
e
33
= (1 + 0,921194 ⋅ k + 0,16101⋅ σ ),
a2

where: k =
(EA)cable , (EA) = EA , σ =
S
.
(EA)strut strut
EA

4. Description of selected modules

The described procedure of structural analysis using the continuum model can be used in case of single
tensegrity modules (as shown in the previous chapter), as well as more complex structures. The example presented
below concerns two tensegrity structures, each consisting of four modules: a system based on the 4-strut simplex
(Fig. 4) and a system based on the expanded octahedron (Fig. 5).
The anisotropic simplex modules are connected in such a way that the obtained structure (Fig. 4) has orthotropic
properties.
892 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894

Fig. 4. An orthotropic system based on the 4-strut simplex modules.

The equivalent elasticity matrix of the analysed structure has the following form:

⎡ e11 e12 e13 0 0 0 ⎤

⎢ e11 e13 0 0 0 ⎥
⎢ ⎥ (9)
⎢ e33 0 0 0 ⎥
E=⎢ ⎥,
⎢ e12 0 0 ⎥
⎢ e13 0 ⎥
⎢ ⎥
⎣⎢ sym. e13 ⎦⎥

with 4 independent coefficients:

2 EA
e =
11
(0,314815 + 1,13709 ⋅ k − 0,0794978 ⋅ σ ),
a2
EA (10)
e =
12
(0,296296 + 0,707107 ⋅ k − 0,0134742 ⋅ σ ),
a2
EA
e =
13
(0,740741 + 0,268328 ⋅ k + 0,17247 ⋅ σ ),
a2
2 EA
e =
33
(0,592593 + 1,07331 ⋅ k − 0,17247 ⋅ σ ),
a2
where: k =
(EA)cable , (EA) = EA , σ =
S
.
(EA)strut strut
EA

In case of the system based on the expanded octahedron (Fig. 5), additional cables were used to ensure stability
of the structure.
 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894 893

Fig. 5. An orthotropic system based on the expanded octahedron modules.

Geometric parameters (6) were applied in the orthotropic system.

The equivalent elasticity matrix obtained from the analysis of the system based on the expanded octahedron has
the following form:

⎡ e11 e12 e13 0 0 0 ⎤

⎢ e22 e23 0 0 0 ⎥
⎢ ⎥ (11)
⎢ e33 0 0 0 ⎥
E=⎢ ⎥,
⎢ e12 0 0 ⎥
⎢ e13 0 ⎥
⎢ ⎥
⎢⎣ sym. e23 ⎥⎦

with 6 independent coefficients depending on the parameters related to the physical properties and the self-stress of
the module and the additional connecting cables:
:
894 Anna Al Sabouni-Zawadzka and Wojciech Gilewski / Procedia Engineering 153 (2016) 887 – 894

2 EA
e11 = (1 + 1,52325 ⋅ k + 0,13125 ⋅ m + 0,129225 ⋅ σ ),
a2
EA
e12 = (0,845615 ⋅ k − 0,105243 ⋅ σ ),
a2
(12)
EA
e13 = (1,26604 ⋅ k − 0,153207 ⋅ σ ),
a2
2 EA
e22 = (1 + 1,35912 ⋅ k + 0,35 ⋅ m + 0,137028 ⋅ σ ),
a2
EA
e23 = (1,51283 ⋅ k − 0,168813 ⋅ σ ),
a2
2 EA
e33 = (1 + 0,921194 ⋅ k + 0,16101 ⋅ σ ).
a2
(EA)connect (EA)cable S
where: m = ,k = , (EA)strut = EA , σ = .
(EA)strut (EA)strut EA

It can be noticed that the obtained matrix E is analogous to the corresponding matrix of the single module. The
differences in coefficients e 11 and e 22 result from the additional connecting cables. When no cables are applied
(m=0), both matrices are equal.

5. Conclusions

Tensegrities are complicated regarding both their geometry and mechanics. Application of continuum models for
the analysis of tensegrity structures enables to understand their unique properties and identify technical coefficients.
The presented results show that different modules (anisotropic or orthotropic) can be used to build orthotropic
tensegrity systems. Additional elements, such as connecting cables used in order to ensure stability of the structure,
influence the coefficients of the elasticity matrix, but do not change the type of symmetry. The information obtained
from the performed analysis can be useful in design and construction of different types of tensegrity systems, such
as beams, plates or more complex structures.

References

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Smakosz, eds., CRC Belkema, Taylor & Francis Group, London, UK, 2016.
[3] W. Gilewski, A. Kasprzak, 3D continuum models of tensegrity modules with the effect of self-stress, WCCM XI, Barcelona, 2014.
[4] A.E. Green, W. Zerna, Theoretical elasticity, Couver Dover Publications, 2002.
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