| Summary: | Tensegrity consisting pinned-jointed struts and cables is lightweight and flexible. Extensive research works on the shape change of tensegrity, especially the deployable tensegrity structures and tensegrity robots have been carried out. This paper presents the structural characteristics of a tapered three-stage tensegrity model during shape change analysis by using a shape change method. The method employed sequential quadratic programming in the optimization of forced elongation in cables, such that the model can advance to the targets. Structural characteristics of the tapered tensegrity model were examined under various displacement schemes. It was found that the tensegrity model demonstrated bending, axial and torsional deformations during the shape change analysis. © Published under licence by IOP Publishing Ltd.
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