Tensegrity structures are a unique class of mechanisms since they are overconstrained but possess mobility due to member compliance. Visualization of these systems is an important step in their design. This paper presents a simulation tool developed in the MATLAB programming environment for simulation of spatial tensegrity structures. Particularly, it allows visualization of motion (animation) of tensegrity mechanisms, as well as determination of load distributions. A compatibility-based solution approach is used to handle the constraints of loading cables in tension only. The result is a design/analysis tool useful not only for tensegrity mechanisms, but general planar and spatial mechanisms as well. This is illustrated by examples.

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