  Tensegrity structures have been extensively studied over the last years due
to their potential applications in modern engineering like metamaterials,
deployable structures, planetary lander modules, etc. Many of the form-finding
methods proposed continue to produce structures with one or more soft/swinging
modes. These modes have been vividly highlighted and outlined as the grounds
for these structures to be unsuitable as engineering structures. This work
proposes a relationship between the number of rods and strings to satisfy the
full-rank convexity criterion as a part of the form-finding process. Using the
proposed form-finding process for the famous three-rod tensegrity, the work
proposes an alternative three-rod ten-string that is stable. The work
demonstrates that the stable tensegrities suitable for engineering are feasible
and can be designed.
