Interactive Freeform Design of Tensegrity

Abstract

In this paper, we propose a novel interactive method for flexibly designing tensegrity structures under valid force equilibriums. Unlike previous form-finding techniques that aim to obtain a unique solution by fixing some parameters such as the force densities and lengths of elements, our method provides a design system that allows a user to continuously interact with the form within a multidimensional solution space. First, a valid initial form is generated by converting a given polygon mesh surface into a strut-and-cable network that follows the original surface, and the form is then perturbed to attain an equilibrium state through a two-step optimization of both node coordinates and force densities. Then, the form can be freely transformed by using a standard 2D input device while the system updates the form on the fly based on the orthogonal projection of a deformation mode into the solution space. The system provides a flexible platform for designing a tensegrity form for use as a static architectural structure or a kinetic deployable system.