Tensegrity structures provide both structural integrity and flexibility through the combination of stiff struts and a network of flexible tendons. These structures exhibit useful properties: high stiffness-to-mass ratio, controllability, reliability, structural flexibility, and large deployment. The integration of smart materials into tensegrity structures would provide additional functionality and may improve existing properties. However, manufacturing approaches that generate multimaterial parts with intricate three-dimensional (3D) shapes suitable for such tensegrities are rare. Furthermore, the structural complexity of tensegrity systems fabricated through conventional means is generally limited because these systems often require manual assembly. Here, we report a simple approach to fabricate tensegrity structures made of smart materials using 3D printing combined with sacrificial molding. Tensegrity structures consisting of monolithic tendon networks based on smart materials supported by struts could be realized without an additional post-assembly process using our approach. By printing tensegrity with coordinated soft and stiff elements, we could use design parameters (such as geometry, topology, density, coordination number, and complexity) to program system-level mechanics in a soft structure. Last, we demonstrated a tensegrity robot capable of walking in any direction and several tensegrity actuators by leveraging smart tendons with magnetic functionality and the programmed mechanics of tensegrity structures. The physical realization of complex tensegrity metamaterials with programmable mechanical components can pave the way toward more algorithmic designs of 3D soft machines.

张力结构通过刚性支柱和柔性筋网的组合提供结构完整性和灵活性。这些结构展现出有用的特性：高的质量刚度比，可控制性，可靠性，结构灵活性和广泛的部署。将智能材料集成到张力结构中将提供其他功能，并可能改善现有属性。但是，生成具有适合于这种张力的复杂的三维（3D）形状的多材料零件的制造方法很少见。此外，通过传统方法制造的张力系统的结构复杂性通常受到限制，因为这些系统通常需要手动组装。这里，我们报告了一种简单的方法，该方法使用3D打印和牺牲性模制来制造由智能材料制成的张力结构。使用我们的方法，无需额外的后装配过程即可实现由基于支撑的智能材料的整体式腱网络组成的张力结构。通过使用协调的软性和刚性元素打印张力，我们可以使用设计参数（例如几何，拓扑，密度，配位数和复杂性）在软结构中对系统级力学进行编程。最后，我们展示了一个能够沿任意方向行走的张力机器人以及几个具有张力功能的致动器，它们利用了具有磁性功能的智能筋和张力结构的编程力学。