Superelastic Tensegrity Modules with Antagonistic Actuation

for multistable, compliant, and shock-absorbing systems

Tensegrities are prestressed structures composed by bars and cables which are particularly suitable for deployable and shape-changing structures, and whose fields of application ranges from architecture to robotics and aerospace engineering. Here, Nichel-Titanium alloy wires with superelastic behavior are employed to realize pairs of antagonistic cables, enabling shape changes of the structure by short electric pulses. In this study, we performed the design, simulation and realization of different tensegrity modules, which can be employed as controllable multistable, compliant, and shock-absorbing systems.

Two versions of the “expanded octahedron”, a classic tensegrity module: one with achiral octahedral symmetry (left), and one with chiral tetrahedral symmetry (right). Cables are grouped in two sets, in red and green, for antagonistic actuation.

Tensegrity	SUPERELASTIC TENSEGRITY