Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity...
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Form finding f Tensegrity StructuresForm‐finding of Tensegrity Structuresテンセグリティ構造の形状決定
Jingyao ZHANG (張景耀)Jingyao ZHANG (張景耀)
Dept. of Design & Architecture
Nagoya City University, Japan
January 13, 2015
Form-finding of Tensegrity Structures Jingyao ZHANG
January 13, 2015
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Contents 内容
Concept of Tensegrity Applications
概念応用 Applications
Stability Form-finding
Key Problems for Preliminary Design
応用安定性
形状決定
Intuition Approaches Analytical Approaches
直観的方法
解析的方法 Numerical Approaches
• Adaptive Force Density Methodi l i h d
数値的方法
適応軸力密度法動的緩和法• Dynamic Relaxation Method
• Non-linear Analysis Method• Optimization Method
動的緩和法非線形解析法最適化手法• Optimization Method 最適化手法
Form-finding of Tensegrity Structures Jingyao ZHANG
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Tensegrity & R.B. Fuller
Tensegrity Tensional + Integrity (R B Fuller 1975)Tensegrity = Tensional + Integrity (R.B. Fuller, 1975)
R.B. Fuller (1895-1983)
The Montreal Biosphere (Geodesic Dome 1967)
Former pavilion of the United States for the 1967 World Fair Expo
Form-finding of Tensegrity Structures Jingyao ZHANG
(Geodesic Dome, 1967)http://24.media.tumblr.com/tumblr_m1y6hqAlHg1qbajhlo1_400.jpg
p
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Question Posted by Fuller Black Mountain College, USA in 1948
“islands of compression reside in a sea of tension”
R. B. Fuller
Spinal column X column K Snelson
Form-finding of Tensegrity Structures Jingyao ZHANG
Spinal-column X-column(1948) (1948)
K. Snelson
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Tensegrity by Snelson
Needle Tower
Form-finding of Tensegrity Structures Jingyao ZHANG
(18m, 1968)
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Tensegrity by Snelson
Triple Crown, 199113 x 26 x 23m
http://kennethsnelson.net
13 x 26 x 23m
Sleeping Dragon, 20023 x 22.1 x 4.8m
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Tensegrity Art works
Signet ring
http://www.tensegriteit.nl
Three Fans
Form-finding of Tensegrity Structures Jingyao ZHANG
http://www.tensegriteit.nl
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Student Works
Form-finding of Tensegrity Structures Jingyao ZHANG
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Applications: Vibration Control 振動制御
St t l S t d C t l L b tStructural Systems and Control LaboratoryDepartment of Mechanical and Aerospace Engineering
University of California, San Diego
Form-finding of Tensegrity Structures Jingyao ZHANG
http://maeresearch.ucsd.edu/skelton/laboratory/vibration_control.htm
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Applications: Deployable 展開構造
Deployable Structure, G. Tibert (2002)
Form-finding of Tensegrity Structures Jingyao ZHANG
Deployable Structure, G. Tibert (2002)
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Applications
M h l f C llMorphology of Cells
etc
Robot Human Skelton
Form-finding of Tensegrity Structures Jingyao ZHANG
etc...
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Tensegrity Dome (1953)
Form-finding of Tensegrity Structures Jingyao ZHANG
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Aviary @ London Zoo (1964) Designed by Lord Snowdon in 1964
Form-finding of Tensegrity Structures Jingyao ZHANG
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Experimental Facility (2001)
E i l F ili T k U i i D i d b K K hi
Form-finding of Tensegrity Structures Jingyao ZHANG
Experimental Facility at Tokyo University, Designed by K. Kawaguchi
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Kurilpa Bridge (2009) Designed by the Queensland division of Australia’s Cox Rayner Architects with Arup
P d t i d C l B idPedestrian and Cycle Bridge
470 meters long and 6.5 meters wide
http://www.e‐architect.co.uk/brisbane/kurilpa‐bridge
Form-finding of Tensegrity Structures Jingyao ZHANG
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Cable-Dome ケーブルドーム
i h i h○ Light-weight
Higher Stiffness
○
Local compressionHigh buckling load
Global tensionHigh-strength material
Kano Dome
Simple jointStrong to earthquake
○
○Kano Dome(1991, Shizuoka, Japan)
Difficult in prestress
Strong to earthquakeSensitive to wind△
△Difficult in prestress
Others:Gymnastic and fencing stadiums Seoul, 1988, South Koreal
△
Form-finding of Tensegrity Structures Jingyao ZHANG
Georgia Dome, 1992, Atalanta, USA
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Contents
Introduction to Tensegrity Applications Applications Stability Form-findingg
Intuition Approaches Analytical Approaches (using symmetry)y pp g y y Numerical Approaches
• Adaptive Force Density Method• Dynamic Relaxation Method• Non-linear Analysis Method
O ti i ti M th d• Optimization Method
Form-finding of Tensegrity Structures Jingyao ZHANG
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Assumptions & Definitions 仮定・定義
Preliminary Design Problem BEFORE Preliminary Design Problem BEFORE• Selection of real materials• Structural design subjected to real loads
• Pin-jointed
Structural design subjected to real loads
Mechanical Assumptions• Pin-jointed• No self-weight nor external load• No member failure (yielding nor buckling)y g g• No support (free-standing)
Member Definitions• Strut (in compression)
• Cable (in tension)
Form-finding of Tensegrity Structures Jingyao ZHANG
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Maxwell’s Rule & Exception マックスウェルルールと例外
Maxwell’s Rule Constraints + Members – Nodes x Dimension >= 0
Stable3x3 + 3 – 4x3 = 0
( )12 + (6) – 8x3 = – 6 < 0 Unstable?
Rigid‐body motions
One self‐equilibrium force modeSeven infinitesimal mechanisms
Form-finding of Tensegrity Structures Jingyao ZHANG
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Stability 安定性
K K K PrestressesTangent Stiffness:
Stability: K T 0d Kd Positive increase P D
E G K K KShape & Material
PrestressesTangent Stiffness:
Stability: K 0d Kd of strain energy
Non-negative eigenvalues
P.D.
Super-stability: GK P.S.D.
Local Maximum
Locally Minimum
Form-finding of Tensegrity Structures Jingyao ZHANG
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Super-stability
K K K
Shape & Material
PrestressesTangent Stiffness:
Mechanism 0E K0G K
E G K K K PrestressesTangent Stiffness:
0E K0GK
0KNo prestress
Neutrally Stable0K
0K0K 0E K0G K
0Tension
Positive forceSuper-stable 0K
0K0K
Positive force
U t bl
0E K0G K
0KCompressionNegative force
Form-finding of Tensegrity Structures Jingyao ZHANG
Unstable 0KNegative force
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Multi-stable Tensegrity
N . m
Constraint line
‘Stable’configuration
Initial stableconfiguration
Constraint line
configuration
Constraint line
Form-finding of Tensegrity Structures Jingyao ZHANG
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Contents
Introduction to Tensegrity Applications Configuration & Prestresses Applications Stability Form-finding (or Shape-finding)
at the state of Self-equilibrium
g ( p g) Intuition Approaches Analytical Approaches (using symmetry)y pp g y y Numerical Approaches
• Adaptive Force Density Method• Dynamic Relaxation Method• Non-linear Analysis Method
O ti i ti M th d• Optimization Method
Form-finding of Tensegrity Structures Jingyao ZHANG
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Form-finding of Arch
Arch(compression)
CCatenary(tension)
Form-finding of Tensegrity Structures Jingyao ZHANG
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Form-finding of Basilica and Expiatory Church of the Holy Family
Constructed from 1882UNESCO World Heritage Site in 2005Church of the Holy Family Site in 2005
Sand bag model to find the natural Sand bag model to find the natural shape (minimum bending moment)
Form-finding of Tensegrity Structures Jingyao ZHANG
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Form-finding of Cable-netケーブルネットの形状決定
Frei Otto(1925~ )
Minimal area C Constant stress
Soap bubble Experiment Cable net
Form-finding of Tensegrity Structures Jingyao ZHANG
Soap-bubble Experiment Cable-net
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West German Pavilion (1967) 1967 World Fair Expo in Montreal, Canada
Form-finding of Tensegrity Structures Jingyao ZHANG
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Contents
Introduction to Tensegrity Applications Applications Stability Form-findingg
Intuition Approaches Analytical Approaches (using symmetry)y pp g y y Numerical Approaches
• Adaptive Force Density Methodp y• Dynamic Relaxation Method• Non-linear Analysis Method• Optimization Method
Form-finding of Tensegrity Structures Jingyao ZHANG
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Polyhedral Symmetric Structures多面体対称
Tetrahedral
Hexahedral
P l h d l
Octahedral
Polyhedral
Icosahedral DodecahedralIcosahedral
Form-finding of Tensegrity Structures Jingyao ZHANG
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Tensegrity Tower テンセグリティ・タワー
Needle Tower(18m, 1968)
N dl T II
by K. Snelson
Needle Tower II(30m, 1969)
y
Hirshhorn Museum & Sculpture Garden Washington D C
Kröller Müller Museum, Otterlo Holland
Form-finding of Tensegrity Structures Jingyao ZHANG
Garden, Washington, D.C. Otterlo, Holland
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Self-equilibrium Equations 自己釣合い方程式
0EzEyEx Self-equilibrium Equations:
E: Force density matrixx,y,z: Nodal coordinates
y
/f li
q q q q q q + + + 0
/k k kq f lForce Density
1 2 3 1 2 3
1 4 5 5 4
q q q q q qq q q q q
E
+ + + = 0
2 5 6 6q q q qq q q
E
Sym.
Form-finding of Tensegrity Structures Jingyao ZHANG
3 4 6q q q y
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Self-equilibrium & Super-stability Conditions
1=
h
x y z P0Ex 1
2, ,
1i i
i
x y z P
h
0Ex
h >= 4 Three-dimensional
E
G
EK E P.S.D. for super-stability
G
K EE
p y
E has four 0 eigenvaluesOther eigenvalues are positive S t bilit
Self-equilibrium
Form-finding of Tensegrity Structures Jingyao ZHANG
Other eigenvalues are positive Super-stability
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Adaptive Force Density Method (AFDM)適応軸力密度法
Initial force densities
DefinitionDefinition
Force density matrix Set four zero eigenvalues
EigenvalueAnalysis
T i t
y Set four zero eigenvalues
1 O
Terminate if satisfied
Definition
EigenvalueAnalysis
*T T
* 1
n h
n h
E ΨΛΨ Ψ Ψ
O Definition
Update force densities Force density matrix
n
O
Least square solution
p Force density matrix
•J.Y. Zhang and M. Ohsaki
Form-finding of Tensegrity Structures Jingyao ZHANG
gForm-finding of tensegrity structures subjected to geometrical constraints, Int. J. Space Structures, Vol. 21, 4, pp. 183-195, 2006.
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Tensegrity Tower by AFDM
Unit cell
SymmetryMerit: Guarantee on super-stability
Low computational costs
Ten-story tower
Symmetry about z-axis Specified
z-coordinates
Low computational costsGeometrical constraints
Demerit: Less accurate shape control
Form-finding of Tensegrity Structures Jingyao ZHANG
yDemerit: Less accurate shape control
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Contents
Introduction to Tensegrity Applications Applications Stability Form-findingg
Intuition Approaches Analytical Approaches (using symmetry)y pp g y y Numerical Approaches
• Adaptive Force Density Method• Dynamic Relaxation Method• Non-linear Analysis Method• Optimization Method
Form-finding of Tensegrity Structures Jingyao ZHANG
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Dynamic Relaxation Method (DRM) 動的緩和法
Initial configurationDs = pEquilibrium Equation
Out-of-balance
New configuration
Motion EquationD: Equilibrium matrixs: Axial force vectorp: Out-of-balance force Out-of-balanceg
Motion Equation Motion Equation
Reset velocity to zero if kinetic energy reaches its peak value;
Terminate if the peak value is small
Mx+Cx+Kx = p 2 / 2E Mx Terminate if the peak value is small.
M: Mass matrixC: DampingK: Stiffness matrix
Final configuration
K: Stiffness matrixx: Displacement vectorE: Kinetic energy Self-equilibrated
•J Y Zhang and M Ohsaki
Form-finding of Tensegrity Structures Jingyao ZHANG
•J.Y. Zhang and M. Ohsaki, Free-form Design of Tensegrity Structures by Dynamic Relaxation Method, Proc. IASS-IACM 2012, Sarajevo, Bosnia and Herzegovina, April 2012.
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Tensegrity Tower by DRM
Initial
Kinetic energy
Merit: Close to designed shape
I iti l Fi lFinal
Merit: Close to designed shape
Demerit: Low convergence
Form-finding of Tensegrity Structures Jingyao ZHANG
Initial Final
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Contents
Introduction to Tensegrity Applications Applications Stability Form-findingg
Intuition Approaches Analytical Approaches (using symmetry)y pp g y y Numerical Approaches
• Adaptive Force Density Method• Dynamic Relaxation Method• Non-linear Analysis Method• Optimization Method
Form-finding of Tensegrity Structures Jingyao ZHANG
![Page 39: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/39.jpg)
Non-linear Analysis (NLA) 非線形解析法
D: Equilibrium matrixs: Prestress vectorf: Unbalanced force vectorU ba a ced o ce ectoK: Stiffness matrixd: Nodal coordinates
Ds f・ConfigurationP t
Sufficiently small
END
Initial
Ds fKd = fUpdate
coordinates
・Prestresses
1d = K f
coordinatesprestresses
Full-rank
Form-finding of Tensegrity Structures Jingyao ZHANG
d K f
![Page 40: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/40.jpg)
NLA for Unstable Structures 不安定構造の非線形解析法
D: Equilibrium matrixs: Prestress vectorf: Unbalanced force vectorK: Stiffness matrixd: Nodal coordinates
IF sufficiently smallInitial
Ds f・Configuration・Prestresses
IF sufficiently smallEND
Kd = fUpdatecoordinatesprestresses
d = K f Full-rankprestresses
Form-finding of Tensegrity Structures Jingyao ZHANG
![Page 41: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/41.jpg)
Generalized Inverse 一般逆行列
1
O
T
1
i
i
K Ψ Ψ
O
n
O Singular value
11/ O
T
1
1/1/
i
i
K Ψ Ψ0i 1/ i
0 1/ 0
1/ n
O 0i 1/ 0i Rule out rigid-body motions
Form-finding of Tensegrity Structures Jingyao ZHANG
n
![Page 42: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/42.jpg)
Tensegrity Tower by NLA
Stiffness Prestress
Struts 100 ‐1
C bl 10 1Cables 10 1
TopInitial
Side TopSide84 IterationsFinal
Form-finding of Tensegrity Structures Jingyao ZHANG
Side TopSide Final
![Page 43: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/43.jpg)
Dumbbell Shape by NLA
Top
SideSide
I iti l Fi lTop Video
Form-finding of Tensegrity Structures Jingyao ZHANG
Side Initial FinalTop Video
![Page 44: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/44.jpg)
Lady’s Mark by NLA
Top
Side
Sid TopInitial Final Video
Form-finding of Tensegrity Structures Jingyao ZHANG
Side Top
![Page 45: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/45.jpg)
Tensegrity Arch Rainbow Arch, 20012.1 x 3.8 x 1m
Form-finding of Tensegrity Structures Jingyao ZHANG
![Page 46: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/46.jpg)
Contents
Introduction to Tensegrity Applications Applications Stability Form-findingg
Intuition Approaches Analytical Approaches (using symmetry)y pp g y y Numerical Approaches
• Adaptive Force Density Method• Dynamic Relaxation Method• Non-linear Analysis Method
O ti i ti M th d• Optimization Method
Form-finding of Tensegrity Structures Jingyao ZHANG
![Page 47: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/47.jpg)
Optimization Method最適化手法
m• Optimization Problem:
1
( ) ( ( ))i ii
S S L
X XMinimize
T t l P t ti l ETotal Potential Energy
( ) ( ( )) ( )m
i iS S L L X X X 0
• Stationary Condition:
1
( )i ii
ii i
LX L
X 0
Member Force Initial FinalInitialShape
FinalShape
Form-finding of Tensegrity Structures Jingyao ZHANG
![Page 48: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/48.jpg)
Optimization with Fictitious Material 仮想的材料性質Hardening
ress
Case 1Case 2
g
S ft iStr
Case 3Softening
Strain
OR
Initial
FinalSh
InitialShape
Form-finding of Tensegrity Structures Jingyao ZHANG
Shape
![Page 49: Form finding Tensegrity Structureszhang.aistructure.net/doc/lectures/Formfinding.pdf · Tensegrity & R.B. Fuller Tensegrity = Tensional + Integrity (R B Fuller(R.B . Fuller , 1975)](https://reader035.fdocuments.net/reader035/viewer/2022062219/5f0299517e708231d405107c/html5/thumbnails/49.jpg)
谢谢!
Thank you!y
ありがとうございました!ありがとうございました!
Form-finding of Tensegrity Structures Jingyao ZHANG