In this paper, a new form-finding analysis methodology for a class 2 tensegrity robot is proposed. The methodology consists of two steps: first, the analysis of the possible geometric configurations of the robot is carried out through the results of the kinematic position analysis; and, second, from the static analysis, the equilibrium positions of the robot are found, which represents its workspace. Both kinematics and static analysis are resolved in a closed-form using basic tools of linear

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... gebra instead of the strategies used in literature. Four numerical experiments are presented using the finite element analysis software ANSYS©. Additionally, a comparison between the results of the form-finding analysis methodology proposed and the ANSYS© results is presented.