simple_prism.tens File Reference

Detailed Description

This file defines the the simplest possible 3d-tensegity with 3 struts and 9 springs. The file can be used as a starting point to define more complex structures.

Probably the simplest way to manipulate this file is to execute

This application allows to select the different variables of the structure and to increase/decrease them. The structure ajusts accordingly. Please note that both the kinematic and force equations are taken into account for this ajustment. So all the configurations are in equilibrium.

The equilibrium manifold for this structure is bi-dimensional. So we can easily plot it. Execute

  • bin/cuikatlas examples/Tensegrity/simple_prism
  • bin/cuikplotatlas examples/Tensegrity/simple_prism 1 33 54
  • geomview examples/Tensegrity/simple_prism_atlas.gcl

To visualize such manifold. The first command generates a full atlas of the equilibrium manifold departing from the point stored in the simple_prism.links file. The second projects this manifold to three of the problem variables (1, 33, and 54) and the last command visualizes the result.

Observe that due to the symmetry of this problem (all elements have the same parameters) and due to the normalization of the forces, the potential energy is the same all over the equilibrium manifold. This can be easily check executing

Definition in file simple_prism.tens.