Statically Balanced Tensegrity Mechanisms


Various files produced during or after my MSc. research, which might be of interest.

Literature ReviewThis report lays the groundwork for the thesis by reviewing literature for existing material on the subject.
Literature Review (1.7MB)
Magazine ArticleFor the magazine 'De Slurf' of the Mechanical Engineering Study Association, Gezelschap Leeghwater I wrote a short article about my graduation project. It is written in Dutch.
Slurf article (305KB)
Skew prism articleAs a response to Bob Burkhardt's paper on skew tensegrity prisms I wrote this short paper, which explains his observations in more detail. It is currently a draft version.
Skew Tensegrity Prisms


All code is subject to the following (OpenBSD) license:

% Copyright (c) 2005-2006, Mark Schenk
% Permission to use, copy, modify, and distribute this software for any
% purpose with or without fee is hereby granted, provided that the above
% copyright notice and this permission notice appear in all copies.
Stiffness AnalysisThe MATLAB code was written to analyse (3D) tensegrity structures for zero stiffness. It further performs symmetry analysis on the tensegrity simplex. The code was also rewritten to accommodate 2D structures, and is also provided.
MATLAB code for Stiffness Analysis (36KB)
Mechanism AnalysisThis code analyses the mechanism properties of the classic 'Snelson' tensegrity, and was used to design the prototype.
MATLAB code for Mechanism Analysis (134KB)
Short movie produced by above code. (386KB)


The list of the references I gathered regarding tensegrity mechanisms is available. It was last substantially updated in the fall of 2006, but occasionally new references are added.

Tensegrity Literature

The overview is automatically generated using my export filters for the bibliography manager JabRef.

LaTeX explanation

I used LaTeX to layout my documents, and I wrote an explanation of the options I use in my MSc. thesis.

© Mark Schenk 2005 — 2006.