Analytical equations for the connectivity matrices and node positions of minimal and extended tensegrity plates

Tensegrity structures are three-dimensional networks of truss members loaded in tension or compression. The location of the end points of the truss members, denoted as the nodes, and the associated node-member connectivity matrices are the fundamental descriptors in the modeling and design of tensegrity structures. This paper presents systematic analytical formulas for such node locations and connectivity matrices for tensegrity plates of two different topologies. The formulas apply to plates of any thickness, diameter, and complexity. As application examples, dynamic simulations demonstrating a strategy for morphing the planar plates toward domes are studied. The presented formulas allow for efficient computations and can be employed in the numerical analysis and design of shape-controllable antennas and mirrors, architectural constructions, and other applications based on tensegrity plate and dome-like structures.