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Tensegrity Definition

Here I am discussing the definition of tensegrity structures. The focus is on clarifying the distinction between the definitions of various authorities. Also, the properties of these structures are discussed. This is part of a presentation I gave in the first Biotensegrity Interest Group Meeting (BIG meeting) which was held in Saint Malo, France in September 2009. Thanks to Dr. Daniele Martin for hosting the event, Dr. Stephen Levin for giving the idea of Biotensegrity, and other friends and colleagues who participated in this two-day meeting.

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f_hakkak
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198 views22 pages

Tensegrity Definition

Here I am discussing the definition of tensegrity structures. The focus is on clarifying the distinction between the definitions of various authorities. Also, the properties of these structures are discussed. This is part of a presentation I gave in the first Biotensegrity Interest Group Meeting (BIG meeting) which was held in Saint Malo, France in September 2009. Thanks to Dr. Daniele Martin for hosting the event, Dr. Stephen Levin for giving the idea of Biotensegrity, and other friends and colleagues who participated in this two-day meeting.

Uploaded by

f_hakkak
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Tensegrity,

the definition
Feras Hakkak
PhD student
Biomedical Eng. Dept., AmirKabir University
Tehran, Iran
Sept. 2009
Overview
 Tensegrity
 History
 Definitions
 Properties
 Biotensegrity
 Philosophy
 Hierarchy
 Gross anatomy
 Research proposal
2
Tensegrity

3
Flat Out, 1979
stainless steel
16 x 20 x 11 inches http://www.kennethsnelson.net 4

40 x 51 x 28cm
60.5 Degrees, 1992
stainless steel
13 x 15.5 x 13 inches http://www.kennethsnelson.net 5

33 x 39.4 x 33cm
Octahelix, 1967
32 x 15 x 15 inches 6
81 x 38 x 38 cm http://www.kennethsnelson.net
Super Star, 1960-2002
aluminum & stainless steel
19 x 23 x 19.75 inches http://www.kennethsnelson.net 7

48 x 58.5 x 50cm
Study for Quadra Node, 1960-90
aluminum & stainless steel
7.25 x 17.75 x 17.75 inches http://www.kennethsnelson.net 8

18.4 x 45 x 45cm
QuinTetRow, 2002
aluminum and stainless steel
15.5 x 42 x 11 inches http://www.kennethsnelson.net 9

39.37 x 106.68 x 28cm


Nice table with a tensegrity base from Koenig Associates, Inc.

Suspend Accent table - 17"


high to top of glass, glass top
21" diameter x 1/2" thick,
batons are 1/2" diameter solid
aluminum alloy with a clear
anodized finish, cable is 1/16"
diameter. List price is $525
http://www.koenigdesign.com
10
History
 In 1949, Kenneth
Snelson, an art student,
made a sculpture …
 Buckminster Fuller, a genius
geometer and architect, developed
the idea and coined the term
“tensegrity”, a contraction for
tensional integrity, in 1955

11
Patents appeared
 David Georges Emmerich (1964) "Construction de
réseaux autotendants“ (autotendants means self-
stressing).
 Richard Buckminster Fuller (1962) “Tensile
Integrity”
 Kenneth Snelson (1965) "Continuous tension,
discontinuous compression structures“

Sadly, the debate is still there. “Who was the first”

12
Definition of tensegrity

The idea is more or less being used in many fields,


and it has led to various viewpoints and
definitions. So, take care to know what an
author means by the word.

Rene Motro gives clear insight into the various definitions in his book
“Tensegrity, Structural Systems for the Future”

13
“Pure” tensegrity

14

http://
“Non-pure” tensegrities
Mostly those that have joints with more than
one compressive member. But there are no
moment transfer in the joints.
Some have membranes as tensile members,
some have air as compression members
(balloon), some have irregular-shaped
elements, etc.
Some may have no compressive members in
some joints, like the cobweb
Some are non-self-sufficient structures,
anchorage-dependent. Like the cobweb
hanging onto a tree
Etc. 15
See http://bobwb.tripod.com/synergetics/tensegrity/index.html
The main idea, for me
 The main idea is that it is a stable system consisting
of some elements that are always in tension and
some that are always in compression. It makes it
different from trusses.
 The next point is “continuous tension, discontinuous
compression” which is found in some of the
definitions. Not all.
 Next point is self-sufficiency, which is found in
most definitions
16
Properties of tensegrity structures
 No bending moments in constructing elements
 The structure is integrated through tension
 Continuous tension, discontinuous compression
 Independence from gravity direction
 Low mass-to-strength ratio (non-pure tensegrities
might be better in this. The research is ongoing)
 Material is needed only in the essential load paths.
 Shape of the structure can be changed with little
control energy (refer to Skelton’s works)
17
Properties of tensegrity structures
 Their shape can deform substantially without being
damaged

 They can be deployable structures


space structures, modern adaptive buildings, …

 Every member has an influence on the overall shape


 Classical structural design: A then B then C then …
 Tensegrity design: A and B and C and … (in a way)
 However they can be used modularly for building big
structures 18
Properties of tensegrity structures
 Possibility of the integration of Structure and
Control Disciplines
A given tensile or compressive member of a tensegrity
structure can serve multiple functions. It can simultaneously
be a load-carrying member of the structure, a sensor
(measuring tension or length), an actuator (such as nickel-
titanium wire), a thermal insulator, or an electrical conductor.

19
Hierarchy – the concept
 The elements of the
tensegrity structure are
themselves tensegrities,
the elements of these
substructures are
tensegrities, …

20
Hierarchy – how to apply
 The ideal mathematical tensegrity deals with rods
and cables, but in the nature we usually have other
forms and shapes. Ideally, no tensegrity is found in
the nature.
 So, we should understand what we mean by
applying the concept. It should be made clear what
is meant by “…. is tensegrity”
 Very unreasonable debates are seen among the
experts in the field, just due to lack of unified
terminology
21
Thank you for your attention.
Questions please…

22

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