Form-finding of tensegrity structures based on graph neural networks

Tensegrity structures, characterized by enhanced stiffness, slender struts, and superior buckling resistance, have found wide-ranging applications in fields such as engineering, architecture, art, biology, and robotics, attracting extensive attention from researchers. The form-finding process, a critical step in the design of tensegrity structures, aims to discover the self-equilibrated configuration that satisfies specific design requirements. Traditional form-finding methods based on force density often require repeated steps of eigenvalue decomposition and singular value decomposition, making the process complex. In contrast, this paper introduces a new intelligent form-finding algorithm that uses the force density method and combines the Coati optimization algorithm with Graph Neural Networks. This algorithm avoids the complex steps of eigenvalue and singular value decomposition and integrates the physical knowledge of the structure, making the form-finding process faster and more accurate. In this algorithm, various force densities are initially randomized and input into a trained Graph Neural Networks to predict a fitness function's value. Through optimizing the constrained fitness function, the algorithm determines the appropriate structural force density and coordinates, thereby completing the form-finding process of the structure. The paper presents seven typical tensegrity structure examples and compares various form-finding methods. The results of numerical examples show that the method proposed in this paper can find solutions that align with the super-stable line more quickly and accurately, demonstrating its potential value in practical applications.