Design and Analysis of a Double-Helix Tensegrity Spherical Lander

This paper presents design and dynamics analysis methods for a Double-Helix tensegrity (DHT) spherical lander. First, we give the topology description of the DHT lander with a payload modeled as a point mass. Then, based on the finite element method for nonlinear tensegrity dynamics and ground dynamics, a DHT lander carrying the payload dynamics is derived during the impact. After analyzing the dynamics, we check the failure of the structure members and iterate the design process. Non-dimensional structure parameters, such as elements material, cross-section area, and stiffness, are studied in the generality of the approaches. Finally, the numerical studies indicate the maximum acceleration of the payload is around 10 g. The methods developed here can also be used for various impact problems for tensegrity structures.