Full and folded forms: a compact review of the formulation of tensegrity structures

This piece of work presents a simple and compact overview of the design problem of tensegrity structures in two and three dimensions. The main aim of this study is to present the design and calculation of tensegrity structures in their simplest form, avoiding unnecessary simplifications that can rule out solutions, as has happened up until now. As a result of the simplicity of the procedure, two types of tensegrity structures are obtained for the same initial topology: full and folded forms. Several examples are shown.