  This study presents the design and analysis of deployable cable domes based
on the clustered tensegrity structures (CTS). In this paper, the statics and
dynamics equations of the CTS are first given. Using a traditional Levy cable
dome as an example, we show the approach to modify the Levy dome to a
deployable CTS one. The strings to be clustered are determined by the
requirement of prestress mode and global stability. The deployment trajectory
is proposed by changing the deployment ratio (the ratio between the radius of
the inner and outer rings of the cable dome). Then, the quasi-static and
dynamic deployment of clustered tensegrity dome is studied. Results show that
the proposed CTS cable dome always has one prestress mode and is globally
stable in its deployment trajectory. In the deployment process analysis, the
dynamics show that the system's dynamic response differs from the quasi-static
simulation as the actuation speed increases. That is, for a fast deployment
process, quasi-static simulation is not accurate enough. The dynamics effects
of the deployment must be considered. The developed approaches can also be used
for the design and analysis of various kinds of CTS.
