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2. Modeling and simulation
The modeling and analysis of a tensegrity mechanism is fundamentally different from that of a rigid, non-prestressed manipulator. The configuration of the mechanism is determined the state of the actuators, the geometric and elastic parameters of the system, and the external loads to which it is subjected.
2.1 Finding the right balance: form-finding methods
The modeling, analysis and design of tensegrity systems are based on the coupling between forces and form that governs the behavior of this self-constrained system. This is also referred to as "morphological-mechanical coupling"
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Modeling and simulation
Analysis
Bibliography
Software tools
NASA Tensegrity Robotics Toolkit (NTRTsim), OpenSource software: https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim (page consulted on January 31, 2018)
Websites
Wiki page dedicated to the study of tensegrity systems: http://tensegritywiki.com (page consulted on January 31, 2018)
NTRTsim simulator documentation: http://ntrtsim.readthedocs.io/en/latest/ (page consulted on...
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