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Advances in Numerical Analysis
Volume 2016 (2016), Article ID 4815289, 12 pages
Research Article

Analysis of Tensegrity Structures with Redundancies, by Implementing a Comprehensive Equilibrium Equations Method with Force Densities

1Department of Mathematics and Statistics, University of Cyprus, Nicosia, Cyprus
2Department of Civil Engineering, Frederick University, Nicosia, Cyprus

Received 26 April 2016; Revised 26 July 2016; Accepted 19 October 2016

Academic Editor: Hassan Safouhi

Copyright © 2016 Miltiades Elliotis et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A general approach is presented to analyze tensegrity structures by examining their equilibrium. It belongs to the class of equilibrium equations methods with force densities. The redundancies are treated by employing Castigliano’s second theorem, which gives the additional required equations. The partial derivatives, which appear in the additional equations, are numerically replaced by statically acceptable internal forces which are applied on the structure. For both statically determinate and indeterminate tensegrity structures, the properties of the resulting linear system of equations give an indication about structural stability. This method requires a relatively small number of computations, it is direct (there is no iteration procedure and calculation of auxiliary parameters) and is characterized by its simplicity. It is tested on both 2D and 3D tensegrity structures. Results obtained with the method compare favorably with those obtained by the Dynamic Relaxation Method or the Adaptive Force Density Method.