Article Mathematics and Mechanics of Solids 1–6 Ó The Author(s) 2017 Reprints and permissions: sagepub.co.uk/journalsPermissions.nav DOI: 10.1177/1081286517697372 journals.sagepub.com/home/mms Full and folded forms: a compact review of the formulation of tensegrity structures E Herna ´ndez-Montes Department of Structural Mechanics, University of Granada (UGR), Campus Universitario de Fuentenueva, Granada, Spain MA Ferna ´ndez-Ruiz Department of Structural Mechanics, University of Granada (UGR), Campus Universitario de Fuentenueva, Granada, Spain LM Gil-Martı ´n Department of Structural Mechanics, University of Granada (UGR), Campus Universitario de Fuentenueva, Granada, Spain L Merino Department of Algebra, University of Granada (UGR), Campus Universitario de Fuentenueva, Granada, Spain P Jara Department of Algebra, University of Granada (UGR), Campus Universitario de Fuentenueva, Granada, Spain Received 12 January 2017; accepted 9 February 2017 Abstract This piece of work presents a simple and compact overview of the design problem of tensegrity structures in two and three dimensions. The main aim of this study is to present the design and calculation of tensegrity structures in their sim- plest form, avoiding unnecessary simplifications that can rule out solutions, as has happened up until now. As a result of the simplicity of the procedure, two types of tensegrity structures are obtained for the same initial topology: full and folded forms. Several examples are shown. Keywords Tensegrity, eigenvalue analysis, Groebner bases, characteristic polynomial Corresponding author: E Herna ´ndez-Montes, Professor, Department of Structural Mechanics, University of Granada (UGR), Campus Universitario de Fuentenueva s/n. 18003 Granada, Spain. Email: emontes@ugr.es.