Abstract: A nodal relaxation method is proposed to efficiently analyze the nonlinear mechanical behavior of tensegrity structures. At each stage, the global deformation of a tensegrity structure is decomposed into the superposition of local node displacements by continuous release and fixation of single or multiple parallel nodes. To obtain the equilibrium structural configuration, the combined elemental force on nodes in both static and dynamic processes is gradually balanced by using geometric and Newmark- β methods. The static analysis of the classic six-bar tensegrity is carried out with the condition of two actuation cables, and the dynamic response of both cable-strut and spring-strut tensegrities under the same load is calculated, which verifies the effectiveness of the algorithm. On this basis, the study on cable failure for cable-strut tensegrity structures is performed, the average amplitude ratio in conjunction with the cable failure efficiency are set as evaluation indicators, and some reasonable suggestions are proposed for the nodal placement in resisting impact loadings.