Tensegrity Systems discusses analytical tools to design energy
efficient and lightweight structures employing the concept of
tensegrity. This word is Buckminister Fuller's contraction of the
words Tensile and Integrity, which suggests that integrity or, as
we would say, stability of the structure comes from tension. In a
tensegrity structure the rigid bodies (the bars) might not have any
contact, thus providing extraordinary freedom to control shape, by
controlling only tendons. This book will provide both static and
dynamic analysis of special tensegrity structural concepts, which
are motivated by biological material architecture. This will be the
first book written to attempt to integrate structure and control
design. All other books on structure design and books on control
design assume these are independent topics, but performance can be
greatly improved if the dynamics of the structure and the dynamics
of the controls are coordinated to reduce the control efforts
required to accomplish the system performance requirements."
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