Analysis of a Novel Torus Tensegrity Structure

A novel configuration method was applied to set up a torus tensegrity structure without over-constraint nodes. Based on the structure characteristics and the number of layers along the central axis of the structure, the node matrix was built up. The connectivity matrix was arranged with the connection relationship between units and the construction method of bars and strings. With the force equilibrium on the node, the equilibrium equation of the whole structure was constructed. Based on the non-zero solution of the equilibrium equation and the eigenvalue of the equilibrium matrix, the method of judging structural stability was found. The Particle Swarm Optimization (PSO) algorithm is used to calculate the torsion angle in each unit. The nine-layer torus tensegrity simulation structures were constructed to prove the configuration method. The correctness of the novel configuration and the feasibility of the analysis method were further verified by physical models.