6.2 GENERAL CHARACTERISTICS

members are connected to any node. E.g., a traditional tensegrity structure is a class 1 structure because only one compression member makes a node. Ariel Hanaor explain tensegrity structures as “internally prestressed, free-standing pin-jointed networks, in which the cables or tendons are tensioned against a system of bars or struts”. While Miura and Pellegrino (cited in Tibert, 2002) describe tensegrity as: “A tensegrity structure is any structure realised from cables and struts, to which a state of prestress is imposed that imparts tension to all cables” later added, “as well as imparting tension to all cables, the state of prestress serves the purpose of stabilising the structure. Finally, Rene Motro (2003) tried to distinction between two concepts, he first established definition based on patent and then the extended definition. “Patent based definition: Tensegrity systems are spatial reticulate systems in a state of selfstress. All their elements have a straight middle fibre and are of equivalent size. Tensioned elements have no rigidity in compression and constitute a continuous set. Compressed elements constitute a discontinuous set. Each node receives one and only one compressed element.” (p.18) “Extended definition: Tensegrity system is a system in a stable self-equilibrated state comprising a discontinuous set of compressed components inside a continuum of tensioned components.” (p.19)

6.2 GENERAL CHARACTERISTICS

Here we will explain the essential element of tensegrity structure. Trying to characterize this type of structure. “Tensegrity is a structural system in a state of stable self- balancing, in a continuous net, with components that supports compression without touching each other.” If this last definition is accepted as being sufficiently comprehensive and concise to define the term, it is possible to distinguish true and false tensegrity due to their respective characteristics.

System: In relation to the theory of systems, it has components (two kinds, in compression and in tension), relational structure (between the different components), total structure (associating relational structure with characteristics of components) and form (projected on to a three-dimensioned referenced system). Stable self-equilibrated state: Stable because the system can re-establish its equilibrium after a disturbance, and self-equilibrated because it doesn’t need any other external condition,