Abstract
Tensegrity structures are pre-stressed systems composed of tension and compression members in a stable self-equilibrium. Tensegrity systems have been applied in various fields in science and engineering. Research into tensegrity systems has resulted in reliable techniques for their
form-finding and analysis. However, most techniques address topology and form separately. This paper presents a novel bio-inspired approach for the combined topology definition and form finding of planar tensegrity structures based on tensegrity cells: elementary units that can composed any
planar structure. Tensegrity cells for planar structures are presented and the multiplication process is described. Two multiplication mechanisms, cellular division and cellular fusion, and their effects on self-stress of the resulting structure are discussed. Addressing both topology and
form finding allows the cellular composition method to integrate design considerations providing great flexibility and control over the tensegrity structure investigated and opening the door to the development of a whole new realm of tensegrity systems with controllable characteristics.