Abstract
Tensegrity structures are reticulated frameworks composed of axially loaded elements in a stable self-equilibrated prestressed state. Their self-equilibrated prestressed state is a result of their topology and geometry which define their statical (self-stress) and kinematical (mechanisms) properties. They are materially and mechanically efficient form-found structures that can also integrate sensors and actuators. Therefore, they are good candidates for smart applications. Although much progress has been made in advancing research into tensegrity systems and their application in science and engineering, there are currently no universally accepted design guidelines for their dialectic form finding, tuning their behavior, and guiding their transformation into active systems. With the aim of controlling the shape and mechanically behavior of tensegrity structures, this thesis proposes a novel bio-inspired generative design method for tensegrity structures: cellular morphogenesis. In an analogy with biological cells that are combined through adhesion and fusion to form complex living organisms, tensegrity cells (infinitesimally rigid self-stressed units) are combined to form complex structures. It is shown that cells can be used to compose complex tensegrity structures with a desired shape and self-stress, as well as explain mechanism creation. The method gives also insights on sensor/actuator placement in tensegrity systems that can be used to inform the transformation process for smart applications. Consequently, cellular morphogenesis offers a new perspective for the design and analysis of tensegrity structures in smart structures, soft robotics, material design, and cellular modeling.