Since the tensegrity structure is flexible and variable, the study adding the mobility to the tensegrity has been conducted. However, it is difficult to apply the tensegrity to the architecture field due to several limits and Korean studies on the tensegrity are very insufficient compared with overseas studies. Therefore, the study on the moving tensegrity was conducted to apply the tensegrity structure to the architecture field, and the biotensegrity structure which was often introduced to realize this moving tensegrity was introduced. In this thesis, the idea and theory on the shape change of the moving tensegrity structure are suggested through the vertebral biotensegrity and the suitability of the suggested shape change algorithm is verified through the shape change interpretation.
Since the tensegrity structure should maintain the self-balancing during the shape change, the incremental equilibrium equation was suggested through the tangent stiffness matrix and the incremental axial force, and the basic theory on the transport process of the increment and node of the element is suggested. Also, the algorithm having the objective function for the optimization of shape change was suggested, and the shape change of 1 mode using the single tensegrity model, the basic model of biotensegrity model, and the shape change of 4 modes using the biotensegrity model which accumulated the basic model in 4 stages were conducted to figure out the suitability of the suggested algorithm.
As a result of performance, it was confirmed that the models accepted up to given target node by using the suggested algorithm, and the saddle applied to the biotensegrity model played a role of allowing the monitored node to transform in reaching the direction and magnitude of the targeted displacement when performing the shape change. Therefore, the shape change algorithm suggested by this thesis will be applied usefully to interpreting the shape of moving biotensegrity.