Tensegrity structures are self-equilibrated statically and kinematically indeterminate structures. Cellular morphogenesis represents a generative process for the composition of complex tensegrity structures based on elementary cells. This article discusses the mechanism creation by the integration of mobility conditions in the generation of tensegrity structures using cellular morphogenesis. The creation of finite and infinitesimal mechanisms in tensegrity structures is described by the adhesion of cells sharing less than d nodes (d being the dimension of the workspace) and by the fusion of cells with the removal of two edges. Parametric descriptions of the infinitesimal displacements in the case of trivial and finite mechanisms are derived by the analysis of rigid assemblies corresponding to the rigid parts of the structure. In addition, an interpretation of the degeneracy of tensegrity structures in the case of self-stressable mechanisms is also presented. Analytical solutions of the degeneracy space for configurations resulting from adhesion and the fusion of two cells with the removal of two edges are described using symbolic calculations on the rigidity matrices of tensegrity structures. Although the study focuses on selected configurations and arrangements, the generalization of the ideas and findings included in this paper can lead to the generation of tensegrity structures with predefined static as well as kinematic properties, thus further enabling the application of tensegrity systems in science and engineering.

中文翻译：

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通过细胞形态发生在张拉整体结构中的机制创建

张拉整体结构是自平衡的静态和运动学不确定结构。细胞形态发生代表了基于基本细胞的复杂张拉整体结构组成的生成过程。本文讨论了在使用细胞形态发生的张拉整体结构生成中通过整合移动条件来创建的机制。张拉整体结构中有限和无穷小的机制的创建通过共享少于 d 个节点（d 是工作空间的维度）的细胞的粘附和通过去除两条边的细胞融合来描述。在微不足道和有限机构的情况下，无穷小位移的参数化描述是通过分析对应于结构刚性部件的刚性组件来推导出来的。此外，还介绍了在自应力机制的情况下张拉整体结构的简并性的解释。使用张拉整体结构刚度矩阵的符号计算描述了由粘附和融合两个细胞并去除两个边缘引起的配置的简并空间的解析解。尽管该研究侧重于选​​定的配置和布置，但本文所包含的思想和发现的概括可以导致生成具有预定义静态和运动特性的张整体结构，从而进一步推动张整体系统在科学和工程中的应用. 使用张拉整体结构刚度矩阵的符号计算描述了由粘附和融合两个细胞并去除两个边缘引起的配置的简并空间的解析解。尽管该研究侧重于选​​定的配置和布置，但本文所包含的思想和发现的概括可以导致生成具有预定义静态和运动特性的张整体结构，从而进一步推动张整体系统在科学和工程中的应用. 使用张拉整体结构刚度矩阵的符号计算描述了由粘附和融合两个细胞并去除两个边缘引起的配置的简并空间的解析解。尽管该研究侧重于选​​定的配置和布置，但本文所包含的思想和发现的概括可以导致生成具有预定义静态和运动特性的张整体结构，从而进一步推动张整体系统在科学和工程中的应用.