Topology optimization of tensegrity structures under compliance constraint: a mixed integer linear programming approach

A tensegrity structure is a prestressed pin-jointed structure consisting of discontinuous struts and continuous cables. For exploring new configurations of tensegrity structures, this paper addresses a topology optimization problem of tensegrity structures under the compliance constraint and the stress constraints. It is assumed that a cable loosens and loses the elongation stiffness when its tensile prestress vanishes due to the applied external load. It is shown that the topology optimization problem can be formulated as a mixed integer linear programming (MILP) problem. The proposed method does not require any connectivity information of cables and struts to be known in advance. Numerical experiments illustrate that various configurations of tensegrity structures can be found as the optimal solutions.