Dynamics of Tensegrity Structure with Beams

This paper presents a finite element method (FEM) designed for analyzing the nonlinear dynamics of tensegrity structures incorporating beams. Generalized coordinates are defined as the displacements and rotations of the nodes in the system. The kinetic and potential energy of the beams and tensegrity elements (bars and strings) are derived, and the Lagrangian method is used to determine the nonlinear dynamics and statics of the system with constraints. Numerical examples are provided to validate the proposed dynamics, confirming its accuracy and validity. This methodology can be utilized for both dynamic and static analysis of tensegrity structures with beams.