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This paper proposes a unified approach for dynamic modeling and simulationsof general tensegrity structures with rigid bars and rigid bodies of arbitraryshapes. The natural coordinates are adopted as a non-minimal description interms of different combinations of basic points and base vectors to resolve theheterogeneity between rigid bodies and rigid bars in three-dimensional space.This leads to a set of differential-algebraic equations with a constant massmatrix and free from trigonometric functions. Formulations for linearizeddynamics are derived to enable modal analysis around static equilibrium. Fornumerical analysis of nonlinear dynamics, we derive a modified symplecticintegration scheme which yields realistic results for long-time simulations,and accommodates non-conservative forces as well as boundary conditions.Numerical examples demonstrate the efficacy of the proposed approach fordynamic simulations of Class-1-to-$k$ general tensegrity structures undercomplex situations, including dynamic external loads, cable-based deployments,and moving boundaries. The novel tensegrity structures also exemplify new waysto create multi-functional structures.

A Unified Approach for Dynamic Analysis of Tensegrity Structures with Arbitrary Rigid Bodies and Rigid Bars