A Better Way to Construct Tensegrities: Planar Embeddings Inform Tensegrity Assembly

Although seemingly simple, tensegrity structures are complex in nature which makes them both ideal
for use in robotics and difficult to construct. We work to develop a protocol for constructing tensegrities
more easily. We consider attaching a tensegrity’s springs to the appropriate locations on some planar
arrangement of attached struts. Once all of the elements of the structure are connected, we release the
struts and allow the tensegrity to find its equilibrium position. This will allow for more rapid tensegrity
construction. We determine the necessary arrangement of struts and springs through the use of a physics
simulator and a force-directed graph drawing program.