Comparative Optimization of Vibrational Properties in Tensegrity Structures via Spectral Element Method

Articles in Press

Document Type : Research Paper

Authors
Juan C. Guacheta-Alba 1
Luciano Santos Constantin Raptopoulos 2 , 3
Max Suell Dutra 1
1 Robotics Laboratory, Mechanical Engineering Department, Universidade Federal do Rio de Janeiro, Rio de Janeiro, Brazil
2 Postdoctoral Program, Robotics Laboratory, Mechanical Engineering Department, Universidade Federal do Rio de Janeiro, Rio de Janeiro, Brazil
3 Federal Center of Technological Education Celso Suckow da Fonseca, CEFET-RJ, Campus de Nova Iguaçu, RJ, Brazil
10.22055/jacm.2025.48846.5544
Abstract
This paper presents a systematic framework for the vibration-based optimization of tensegrity structures, integrating the Spectral Element Method (SEM) with a Particle Swarm Optimization (PSO) strategy to explore metric-specific performance across representative tensegrity configurations. The SEM formulation provides exact frequency-dependent stiffness without spatial discretization, ensuring high numerical precision in the evaluation of natural frequencies and frequency response functions (FRFs). Five dynamic-oriented metrics—Dynamic Efficiency (DE), Minimum Modal Separation (MMS), Modal Density Ratio (MDR), Prestress Robustness (PR), and Critical FRF Magnitude (CFM)—are individually optimized for four representative tensegrity topologies, allowing a comparative assessment of convergence behavior, sensitivity, and robustness. Results reveal clear trends: stiffness-related metrics (DE, CFM) exhibit stable convergence and low dispersion, producing geometrically balanced tensegrities with uniform prestress distributions. In contrast, modal and robustness-oriented objectives (MMS, MDR, PR) are more sensitive to configuration and prestress variations, yielding asymmetric arrangements and higher variability across optimization runs. Complex topologies (C and D) show amplified convergence dispersion, confirming that structural complexity increases the difficulty of identifying global optima under dynamic criteria. The findings demonstrate that PSO effectively captures distinct vibrational optima and that the interplay between topology, pretension, and modal coupling governs the dynamic performance of tensegrity systems. The proposed approach provides a unified framework for quantifying vibrational trade-offs and metric robustness, establishing a foundation for the vibration-tailored design of tensegrity structures and their dynamic optimization.
Keywords
Tensegrity
Spectral element method
Vibration metrics
Particle swarm optimization
Subjects

Publisher’s Note Shahid Chamran University of Ahvaz remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

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