Articulated joint mechanism for cable-based and tensegrity structures

摘要

In a joint (100) for a structure that includes at least one rod (104) and a plurality of cables (102), each cable (102) having an outside diameter, a rod end (160) is affixable to the rod (104) so that the rod has a rod (104) centerline that passes through the rod end (160). The rod end (160) includes a mechanism (166) that allows the rod end (160) to pivot about a center point that is on the rod centerline. A cable attachment device (150) is couplable to each cable (102) and to the rod end (160). The cable attachment device (150) holds each cable (102) coupled thereto in a relationship to the rod end (160) so that each cable (102) has a cable centerline that intersects the center point so as to minimize any moments from the rod (104) or the cables (102) on the joint (100).