Modular assembly of tensegrity structures with diverse mesh division forms

Tensegrities can be assembled to construct complex structures and increase the range of applications. Here, we propose an assembly procedure with diverse division forms to construct tensegrities with complicated surfaces, where meshes with different number of edges are allowed to exist for better adaptability at the border. Four types of mesh are selected to divide the target surfaces, which will be stretched along a specific direction to form specialized modules. A novel two-module connection method is explored, defined as a basic mode for assembly. Next, a variant of the V-expander tensegrity serves as the constituent unit for the overall structure, following the basic mode. Further, the screw theory is taken to assess the mobility of assembly mode. The self-equilibrium and stability of tensegrity structure after assembly are respectively evaluated. For verification, five surface examples are provided to confirm the feasibility and effectiveness of the assembly approach. This study enriches the division forms of assembly tensegrity to match more complicated target surfaces, and enables the incorporation of polygonal units within the tensegrity structures, which has an impact on structural properties and appearance.