  This paper presents a Lagrangian approach to simulating multibody dynamics in
a tensegrity framework with an ability to tackle holonomic constraint
violations in an energy-preserving scheme. Governing equations are described
using non-minimum coordinates to simplify descriptions of the structure's
kinematics. To minimize constraint drift arising from this redundant system,
the direct correction method has been employed in conjunction with a novel
energy-correcting scheme that treats the total mechanical energy of the system
as a supplementary constraint. The formulation has been extended to allow
tensegrity structures with compressible bars, allowing for further discussion
on potential choices for softer bar materials. The benchmark example involving
a common tensegrity structure demonstrates the superiority of the presented
formulation over Simscape Multibody in terms of motion accuracy as well as
energy conservation. The effectiveness of the energy correction scheme is found
to be increasing with the extent of deformations in the structure.
