Equilibrium and stiffness study of clustered tensegrity structures with the consideration of pulley sizes

This paper presents the equilibrium and stiffness study of planar clustered tensegrity structures (CTS) considering pulley sizes. We first derive geometric relationship between strings pulleys, where nodal vector is chosen as generalized coordinate. Then, equations structure with pulleys based on Lagrangian method are given. Since a usually weakened when using clustering strings, we formulate tangent matrix for analysis. It also shown that sizes go to zero, governing system yield classical without which consistent existing literature. Three examples demonstrated validate given theory. The proposed allows one conduct equilibrium, stiffness, robustness studies pulleys. Nevertheless, approach developed in this not limited structures. can be applied wide range applications pulley-rope systems, such drilling rigs, ocean platform anchors, cargo cranes.