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3) bars at each stage. The Maxwell number of the modules is 6−2
doi:10.1016/S0020-7683(00)00233-X 
Copyright © 2001 Elsevier Science Ltd. All rights reserved.
Static and dynamic analyses of tensegrity structures. Part II. Quasi-static analysis
Received 12 April 2000;
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Abstract
Linearized Lagrangian equations developed in the first part of the paper were employed for static analyses of cyclic cylindrical tensegrity modules. Linearized equilibrium equations at natural configurations were used to investigate initial shape, static and kinematic indeterminancy, pre-stress and infinitesimal mechanism modes, and the sensitivity analysis of initial geometry. Linearized equilibrium equations at pre-stressed initial configurations were utilized to investigate pre-stress stiffening and to distinguish first-order mechanisms from higher-order mechanisms. To estimate critical loads for bar buckling and cable slacking, nonlinear equilibrium equations were employed to compute element forces. Further, the equivalence between the twist angle theorem obtained from a geometrical consideration and the equilibrium analysis was established for cyclic cylindrical tensegrity modules. It is concluded that infinitesimal mechanism modes and pre-stresses characterize the static and dynamic response of tensegrity structures.
Author Keywords: Tensegrity; Truss analysis; Infinitesimal mechanisms
