Over the last years, it has been theoretically demonstrated that tensegrity provides minimal mass solutions to load-bearing structures under static forces. Loading types including compressive forces, cantilever forces, uniformly distributed forces in simply-supported structures, and torsional forces have been considered. This paper extends the design of tensegrity structures beyond the support of static loads. Formulations and computational approaches for the design of minimal mass tensegrities that satisfy modal requirements such as targeted critical buckling forces and natural frequencies are presented. Implementation examples for both types of requirements considering beam-like geometries are provided. The results indicate that tensegrities provide minimal mass solutions to structures with static and dynamic modal requirements, as compared to continuum counterparts, extending the applicability of tensegrity systems in aerospace and civil engineering.
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