Folding

Folding

Folding is the process or reducing the volume occupied by a structure. Folding tensegrities requires a different approach from conventional or pantographic folding.

Tensegrity Folding Classifications

Folding can be divided into the following three steps (following Motro)

• Algorithm or mechanism selection
• Verification of system compatibility during folding
• Stabilizing or re-stressing the system after folding

Three modes may also be abstracted, again following Motro

• Strut mode
• Tendon mode
• Mixed mode

Motro's Discussion of Folding

Motro notes in his book http://books.google.com/books?id=6aWtlMqwdnsC&pg=PA166&lpg=PA166&dq=%22tensegrity+folding%22&source=bl&ots=rYDI3Cd3pl&sig=8eSKjrws1iecWBFIGKYhleGB2WE&hl=en&ei=EOsiTKWkNsfKjAfhmM2tDg&sa=X&oi=book_result&ct=result&resnum=2&ved=0CBYQ6AEwAQ#v=onepage&q=%22tensegrity%20folding%22&f=false%7CTensegrity]] , chapter 6-2 "Folding Principle" that folding requires modifying element lengths and granting the corresponding degrees of freedom to the vertices. As the tensegrity is folded the nodes follow a trajectory through space.