22 nd International Symposium on Automation and Robotics in Construction ISARC 2005 - September 11-14, 2005, Ferrara (Italy) 1 Abstract— Tensegrity is a technology that can be applied to structures and its use can influence the construction time efficiency and project management in general. A significant drawback for a systematic application of tensegrity structures in the construction industry is the particularly complex geometry that engineers and architects have to generate in a two or three dimensional virtual or physical environment. This paper discusses a computer based utility that will facilitate the design professional to devise and construct a specific morphological variation of tensegrity structure systems. This utility applies to a recently developed building technology application which allows methods of forming a structure based on the rapid assembly of existing tensegrity units, permitting variability in the overall structure's form and dimensions. The development of the proposed utility was based on a methodology that identified and included parameters that can be associated to the schematic design and design development phases of a design project. Various methods of processing data, each of which may correspond to the needs of the designer, are enabled within the interface; domical, vaulted and slab configurations are the principal geometries addressed. Emphasis in the software application was placed on the development of a user friendly interactive environment that assists the generation and modification of the numerical data, and allows unobtrusive regenerations of alternate solutions. The developed utility – an automation tool – is to be used for decision making, enabling the user to iterate processes and make fine adjustments that will satisfy the agenda of parameters set by the project designers. The software application has been validated with a series of tests, briefly presented in the paper. I. TENSEGRITY STRUCTURES FOR BUILDING DESIGN Tensegrity structures for application in building design can be of various geometric forms and morphological types. Jason. E. Charalambides is Assistant Professor at the Frederick Institute of Technology, Nicosia, Cyprus (email:j.charalambides@alum.calberkeley.org , phone: ++ 357- 22377946) Katherine A. Liapi is Assistant Professor of Architectural Engineering at the University of Patras, Greece, and Adjunct Assistant Professor of Civil Engineering at the University of Texas at Austin (e-mail: kliapi@mail.utexas.edu ) Yet it can be maintained that Tensegrity structures in general are based on the principle of disjoint connections. This is characteristic of a structural system in which rigid members, such as bars, are not connected directly to each other, but to cables that usually form a continuous network. Although a few researchers and designers disregard this condition, based on the definitions given by Fuller [1] who first came up with the term, as well as of Pugh [2], Emmerich [3], Hanaor [4], and others who contributed to the research in the field, discontinuity of compressive components remains central to the tensegrity concept. A. Basic Tensegrity Morphologies Tensegrity structures can be arranged in a single and a double layer fashion. Single layer morphological types were extensively studied by Oren Vilnay [5]. The single layer geometry, lacking the depth of its double layer counterpart, is characterized by typical “membrane” self supported structure issues of stability and vibrations, a subject Vilnay specifically engages on in his work on analysis and design applications. Double layer tensegrity structures occur from the assembly of tensegrity units of simple geometry. Based on this, double layer tensegrity structures are modular in conception and can therefore support pre-fabrication and pre-assembly. Research on double layer tensegrity forms was carried on extensively by Rene Motro who employed tensegrity units of square base [6]. Motro, in order to simplify the geometry of tensegrity structures, connected tensegrity units at nodal points; this resulted in structures that only partially fulfill the condition for disjointed connections between members. Ariel Hanaor engaged more on the triangular based formation, that is, on structures that occur from the disjointed assembly of tensegrity units of triangular base, and gave emphasis on the development of the geometry of tensegrity structures of spherical shape. Hanaor also conducted load tests and structural analysis studies [7]. A morphology similar to Hanaor’s was used by Allain Chassagnoux of the Ecole d’Architecture de Nantes in France. Chassagnoux developed a computer program that calculates displacements on tensegrity structures using the finite elements method [8]. On the morphological type of square base double layer tensegrity structures, research has been carried on by Implementation of a computer algorithm for an interactive 3D CAD generation of tensegrity structures Jason E. Charalambides and Katherine A. Liapi