Synchronised Activation of Single-curved Tensegrity Grids for Responsive Architecture

Arnoud Herder
TU Delft
aherder@student.tudelft.nl

Figure 1: A parametric model of modules adapting their shape to a b-spline curve on the left. On the right a linked series of
mechanisms in which the bottom lengths of the modules is synchronized with those of the parametric model. The figure il-
lustrates the ease with which a physical model could assume the same shape as its digital variant. The mechanisms shown
on the right are similar to those used in the actuators of the tensegrity grid discussed in this paper.

Abstract 1 Introduction

This paper aims at presenting an exploratory design
study of actuated, single curved, tensegrity structures
for responsive architecture. This subject was studied
as part of the “Stand Up Architecture” workshops at the
TU Delft, a course aiming to stimulate students to use
computational models in the process of analysis driven
design.
Point of departure is the design problem of a responsive
structure providing various degrees of shelter, depending
on the environmental conditions. The research focuses
on the technical feasibility of such a structure. The
presented solution involves the principle of an actuated
tensegrity system combining optimal shape control
-limited to single curvature- and a synchronized actuation
mechanism.
Both the digital modeling and the physical testing of the
principle are described. To conclude, the potential of the
symbiosis between the digital- and physical model for a
responsive structure is discussed.
With the introduction of parametric modeling to
architectural design, it has become possible to alter the
design throughout the design process. The importance,
or exact values, of the parameters can be considered
until the last stages of design. The final design is not
unveiled until the values of all parameters are established.
Although the use of parametric modeling has brought
great advantages with regard to the adaptability of
architectural design, these advantages are restrained to
the design stage of a project. Once the design is finished
and the building is constructed, changes in parametrical
conditions can no longer be incorporated.
Parametric models are typically tuned towards
environmental conditions, which in turn usually vary over
time. For a physical structure to reflect the full potential
of parametric modeling, the behavior of the digital model
would ideally be incorporated in the physical structure.
A static structure would always be a compromised
representation of the model. The result would be a
responsive architecture that adjusts its properties as the
parameters change.

Keywords: actuated tensegrity systems, responsive/
adaptive architecture, parametric design, Generative
Components, single curved surfaces, synchronized
actuation.
In this respect, responsive architecture is a means to
extend the advantages of parametric design beyond
the design stage. New findings and beliefs, changing
environmental conditions, can be implemented in the
completed building.

The concept of responsive architecture isn’t new; in

the 1960’s architects realized that “feedback could be
incorporated into buildings via the use of responsive
systems and these systems would enable spaces
and people to enter in a dynamic relationship.” (Sterk
2006) The interest in responsive architecture soon
faded however, as architects found it hard to build the
computational and structural systems needed to bring
this concept to live. However, with the arrival of powerful
parametric design tools and new types of structures,
the prerequisites for responsive buildings now seem to
have been met.
For a structure to adequately respond to changing
conditions, it should be operated by a computational
model in real-time. In order to create a real-time
connection between architectural structures and digital
models, dynamic structures need to be developed
that are able to respond to the input of the parametric
model. One type of structure that is suitable for this type
of application is tensegrity. Not only is tensegrity very
suitable for free-form design, it also offers the possibility
of creating a dynamic structure that is structurally
sound.
Ever since tensegrity was invented, it has been
subject to extensive research. However, applications
of the principle in architecture are very rare. In their
purest form (when the trusses are not in direct contact
with each other) tensegrity structures tend to be very
flexible, making it hard to utilise them to support rigid
buildings. In the past 10 years however, research has
presented configurations enabling efficient applications
of tensegrity.
Tensarch
The Tensarch project in Montpellier has been home to
important research on efficient tensegrity structures.
Especially the efforts of Rene Motro and Vinicius
Raducanu have been important for development of rigid
tensegrities. As part of their research a basic module
called the “2V expander” (figure 2, left) was applied
to various geometries. In this module, two trusses are
connected to a single node, making it a structure of
“tensegrity class 2”. The most common structures based
on the 2V expander are characterized by their zigzag
shaped chains of trusses in double grid configurations
(figure 2, right). The separate chains of trusses do not
touch one another, so the chains are still floating in
tension making them truth tensegrities.
Figure 2: The 2V expander as applied in the Tensarch
project on the left. On the right, the same module placed
on bi-directional gird.
A prototype of a double grid tensegrity system based
on the 2V expander was built in 2000. The prototype,
covering an area of 81m2 and weighing 900kg, was built
to comply with the Eurocode 3 building standard and
thus withstand a uniformly distributed load of 1.6 kN/
m2. The testing of this prototype proved the feasibility of
tensegrity grids as structural elements of a building.
The grids as discussed in the last paragraphs are
very suitable for free-form design, making them a very
interesting for application in responsive architecture. The
module shape can be adjusted to follow any surface by
changing the lengths of the different cables and trusses
that the module is made of. Changing these lengths
by actuation is the first step towards a responsive
structure.
ORAMBRA
Tristan d’Estree Sterk, an American architect exploring
the potential of responsive architecture, uses tensegrity
grids that are similar to those described in the last
section. Sterk’s “Office for robotic architectural media
and responsive architecture” (ORAMBRA), is a binary
architecture / technology office that implements
responsive technologies to create a sustainable
architecture that reflects the conditions of our time.
The structural principle Sterk uses to control the shape
of tensegrity structures is the local adaptability of rigidity.
The rigidity of tensegrity systems is closely related
to their self-stress. In the Tensarch structures, self-
stress is provided for by spanners in the vertical cables
(perpendicular to the plane of the grid). The rigidity
of the structure increases along with the self-stress.
Sterk employs this technique by integrating actuated
“muscles” at the vertical cables which can control the
self-stress of the structure on demand. Shape control
is thus enabled by creating local differences in rigidity.
This system provides for the global shape control of
structures. A prototype by Sterk is shown in figure 3.
Figure 3: One of the prototypes of an actuated tensegrity
grid by Tristan d’Estree Sterk (Photograph taken from
Sterk, 2003)
Horticultural Greenhouses
An interesting precedent for a functional responsive
architecture today can be found in modern horticultural
greenhouses. The indoor climate of green houses is
optimised throughout the day by a number of responsive
building features such as a sophisticated climate
system regulating the temperature and humidity, energy
screens blocking the sun and an automatically operated
roof which is opened when the inside temperature rises
above the desired level. Figure 4 shows the fully opened
roof of a “max air” greenhouse; a greenhouse type of
which the entire roof surface can be opened.

Figure 4: A Max-Air Greenhouse with fully openeable roof
panels.
If there is any structure that is fully optimised for the
particular function it serves, it is the horticultural
greenhouse. Static requirements such as, low cost,
minimal material use and optimal light entrance are
accounted for by the static features such as type of
structure. Dynamic requirements however; those
depending on external climate conditions, are accounted
for by responsive systems, amongst which the operable
roof; a clear example of a responsive building envelope.
If low-cost purely functional buildings employ structurally
responsive features, the implementation of responsive
systems in commercial or residential buildings are likely
to remarkably improve their performance.
2 Problem and Aims
The explorative research of shape control of actuated
tensegrity structures operated by a parametric model
presented in this report is limited to single curved
applications. An advantage of single curved surfaces is
the possibility to apply synchronized rows of actuators
for the desired shape control. This drastically reduces
the complexity of the actuation process. Double curved
surfaces are an interesting field with regard to responsive
architecture as well, but because of the limited time-span
it was decided to exclude this area from the project.
Point of departure is the design problem of a responsive
structure providing various degrees of shelter, depending
on the environmental conditions (figure 5). The research
focuses on the technical feasibility of such a structure.
Figure 5: Design for a workshop. The facade/structural
elements are made of an actuated tensegrity system. The
single curved panels adjust their shape to provide the
desired shelter.
The required degree of shelter and the optimal way
to provide it is deemed to be the output of a (fictional)
parametric model. For time saving reasons, no
parametrical model of the required behavior of the
design is made.
The focus of the project is to explore the potential of
linking a parametric- and a physical model. The aim is to
design a parametric model that simulates the behavior
of the used tensegrity grid and find the simplest
structure with the least amount of required actuators
with maximum shape control and adaptability. Ideally
one parameter would be required to determine the
angle of one row of the tensegrity grids. Secondly, an
actuation technique is to be designed that can accurately
determine the curvature of the tensegrity grid. The
envisaged symbiosis between the parametric model
and the actuated physical model enable a parametric
structure, responding to environmental conditions via
the digital model.
3 Shape change principle
3.1 Digital model of curving behaviour
The curvature of (single curved) tensegrity systems can
be controlled by changing the shape of the individual
modules; more specifically by controlling the top-/
bottom width ratio of a row of modules perpendicular to
the curvature (figure 6).
As the ratio rises the surface bends down and vice
versa, where a ratio of 1 represents a planar surface.
The width of the modules is controlled by changing
the lengths of the cables/trusses. The simplest way to
achieve the desired module deformation is by changing
the top- and bottom cables parallel to the curvature
while the other members of the module remain constant
in length (see figure).
Figure 6: Curvature of a tensegrity grid changed by
altering the length of the top and bottom cables of a row
of modules.
The curving behavior of a tensegity grid subject to these
length changes was studied and captured in a “2d”
model as shown in the two top photographs of figure
8. The behavior was then translated into a parametric
model that simulates this behavior. The digital model
was made using the parametrical design tool Generative
Components. The logic of this model is illustrated in
figure 7, the positions of the joints are determined by the
intersections of the circles which represent the lengths
of the members. Figure 8 shows the physical and digital
model of the mechanical principle utilized to control the
curvature of the tensegrity system in various positions.

Figure 7: A scheme of the translation of the physical
behaviour into a digital model. Note that the only members
of the module changing length are the top and bottom
cables; the diagonal trusses and vertical cables remain
constant in length.
Figure 8: The behaviour of the digital model vs the digital
model.
When a number of the modules described in the last
section are linked and a dependacy is created between
the modules and a b-spline curve, the shape of the
modules is automatically optimized to follow any given
curve. The chain of modules is now controlled by the
same parameters that define the curve. A model with
these dependencies is shown in figure 9. To be certain
that this 2d model accurately simulates the behavior of
a (3d) tensegrity structure the model was then modified
to a 3d situation.
Figure 9: A series of modules as shown in figure 7 & 8 linked
to each other and following a curve. The model shapes a
adjusted as the shape of the curve changes.
3.2 Translation to 3d tensegrity situation
In the 3 dimensional structure, the (diagonal) trusses
are not located in one plane, but in opposite planes of
the modules (figure 10).
Figure 10: Scheme of the difference between the 2d and
3d situation.
A physical model was made to test whether the modeled
behavior accurately simulates the behavior of a physical
tensegrity structure. For budget- and time reasons, the
model (figure 11) was constructed of materials such as
folding rulers, hemp thread, connector strips etc.
Figure 11: Physical model to test the shape change behavior
of a tensegrity structure
When tested, manual changes in the top and bottom
cable lengths caused the angle as predicted by the digital
model. As the simulation of the physical behavior by the
digital model has proved to be accurate, an actuation
mechanism is developed that can be connected to the
relevant output (in this case, the top and bottom cable
lengths as resulting from shape changes of the b-spline
curve) of the parametric model. A digital model of the
tensegrity structure is shown in figure 12.
Figure 12: 3d model of a single curved tensegrity grid based
on the 2V expander. Just as the 2d models of figure 9, the
module shape changes as the curvature of the b-spline
curve is changed.
3.3 Weatherproofing

As the structure is designed to function as both structure

and building envelope, weatherproofing the structure is
of major importance. An advantage of single curved
surfaces is that is can be clad relatively easy with a
folding cladding. An outwards folding cladding was
designed and modeled in Generative Components
as shown in figure 13. This type of cladding made of
sandwich panels provides a fully weatherproof cladding
on the structure allowing for any shape changes of the Figure 14: Diagram of the length relation between the top
single curved surfaces. and bottom cables as the shape of a module is changed.
The red line gives the length of the bottom cable as a
function of the top cable. The green line gives the sum of
both lengths.

The actuation principle that was designed controls

the shape of an entire row of models by one single
parameter. The relationship between the top and bottom
cables is remained at b=n2/t by a mechanism with a
corresponding relation between the top and bottom
lengths (figure 15).

Figure 13: Modules provided with a foldable cladding for a

weatherproof structure.

3.4 Actuation

A crucial element in a responsive structure is the actuation

mechanism. As mentioned before, the advantage of
single curved surfaces is the possibility of synchronized Figure 15: actuation mechanism; the distance relation
activation of a row of modules perpendicular to the between the top and bottom joints is the same as that of
curvature. the tensegrity structure.

An important aspect to address with the design of a
suitable actuator is the relationship between the lengths
of the top/bottom cables of a row of modules. The
relationship between these lengths is given by: b=n2/t
Where:
b =length of bottom cable
t =length of the top cable
n =length of top or bottom in neutral position
(when b=t)
A graphic representation of this relationship is given in
figure 14.
The first design employed two of these mechanisms
and four bars, two at the top and two on the bottom.
The bars, parallel to the row of modules it actuates,
were connected to the mechanism on one side and
the module on the other. This way the length of the top
and bottom cables was remained correct at all times.
However, large bending moments in the bars would
require very rigid (and thus heavy) bars of which four
were needed to control one single row of modules. In
addition two mechanisms were required, all in all a very
bulky and inefficient manner of actuation.

Digital synchronization could be realized by a

configuration with several actuators in which the top
cables are all of synchronized length, and the bottom
cables are all b=n2/t. This type of actuator would
however need a large number of actuators and would
be very vulnerable to actuator defects. Mechanical
synchronization driven by one single parameter for all
cables, both top and bottom, would be much simpler
and not vulnerable to any failure caused by inaccuracies
or defects in the different actuators. For these reasons Figure 16: Photograph of the first actuator design. The
it was opted to design an actuator based on mechanical actuator uses a lot of material and the movement of the
synchronization. mechanism is in opposite direction to that of the modules.
The second, and final actuator design requires only
halve of the mechanisms and bars as the first design.
With this principle (figure 17) the bars function as a reel
on which the cables are wound.
Figure 17: Diagram of the actuation principle of the second
design.
Cables connected to the mechanism are wound the
opposite direction as cables connected to the modules.
In this configuration, the cables on the spool connected
to the modules produce a positive moment on the spool
while the mechanism produces a negative moment
equal to the sum of the other moment. The bar is in an
equilibrium which can be changed as the shape of the
mechanism is changed. The bolt controlling the shape
of the mechanism is the only parameter required to
control the shape of the row of modules. The result is
one single actuator controlling an entire row of cables
that is easy to operate and very efficient. The self stress
in the cables remains constant throughout the shape
change process.
It is expected that the connection of these actuators to
a parametrical model would be fairly easy and therefore
provide an excellent opportunity for the development
of responsive architecture connected to a parametric
model in real time.
Figure 18: The final actuator design. The curvature at the
row of modules can be controlled by simply adjusting the
distance between the two top joints of the mechanism with
the bolt connecting them.
Figure 19: The angle between both halve of the tensegrity
grid changes as the actuator changes the lengths of the
cables.
4 Conclusion
Not only is parametric design a prerequisite for
responsive architecture, it is also an important argument
for its development. This paper presented the results
of an exploratory study of possible technologies for
responsive structures. The offered solutions were
sought in the field of actuated tensegrity grids based on
the 2V expander.
Although the potential of the designed actuation
principle is limited to single curved applications, further
research may lead to modifications that enable double
curvature. The presented actuation system appears
to have great potential for the uncomplicated control
of the shape of tensegrity grids. Actuation by a single
parameter controlling a row of modules seems a very
attractive method of shape control. A folding cladding
could provide for weather tightness of the structure.
Testing this principle on a larger scale with stronger
materials will establish whether the system is feasible
for application in buildings. Linking between the digital
and physical model would be a great step towards a
responsive architecture.
Figure 20: Design for a responsive shed with single curved
shape freedom
Further research
An area of further research would be to develop a
parametric model of a simple structure and connect it
to the physical, actuated tensegrity structures described
in this paper.
Crossroads of Digital Discourse. Proceedings of the
2003 Annual Conference of the Association for Computer
Aided Design In Architecture. Indianapolis (Indiana) 24-
27 October 2003, pp. 85-93

As second area of further research is that of double

curved surfaces. Actuated tensegrity structures might
be very suitable for this purpose as well, and research
in this field to date is very limited. Tristan d’Estree Sterk
has made a good start in this area. Other precedents
may be found in other engineering disciplines.

Acknowledgements

This work has been performed as part of the Stand

Up Architecture workshops at the Delft University
of Technology. The author would like to thank the
instructors Axel Kilian, Rudi Stouffs, Andre Chaszar for
their enthusiasm and support and during. Thanks also
go to Andrew Borgart, who supported the project as
research tutor.

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