Articulated joint mechanism for cable-based and tensegrity structures

A joint for a structure that includes at least one rod and a plurality of cables, each cable having an outside diameter, the joint comprising:

• a rod end that is affixable to the rod so that the rod has a rod centerline that passes through the rod end, the rod end including a mechanism that allows the rod end to pivot about a center point that is on the rod centerline;
• a cable attachment device that is couplable to each of the plurality of cables and that is coupled to the rod end, the cable attachment device configured to hold each of the plurality of cables coupled thereto in a relationship to the rod end so that each of the plurality of cables has a cable centerline that intersects the center point so as to minimize any moments from the rod or the cables on the joint,
• wherein the cable attachment device comprises:
• a plurality of wing members in which each wing member corresponds to a different one of the plurality of cables;
• a first plate that engages each of the wing members so as to hold each wing member in a fixed radial position;
• a second plate, disposed below the first plate, that holds the rod end in a fixed relationship thereto;
• a third plate, disposed below the second plate opposite the first plate, that is attached to the first plate so as to secure the rod end, the second plate, the first plate and each of the plurality of wing members in a fixed spatial relationship;
• and
• a plurality of cable attachment arms, each configured to attach a different one of the plurality of cables to a corresponding wing member,
• wherein each wing member has a dimension so that when a cable attached thereto is under tension the corresponding cable centerline intersects the center point.