Abstarct: Tensegrity is a kind of light and durable two or three-dimensional mechanisms consisting of cables and pressure elements, in which the cables are continuously extended, but the pressure elements are interrupted and suspended. Sustainability of tensor mechanisms is a function of the internal stress balance between tensile members. In this research, an accurate analysis was conducted to investigate the structure of robot geometry, to examine static equations, to study the dynamical equations and to explain the geometry of the tensegration mechanism. For this purpose, a two stage 3D tensegrity mechanism is selected and its mathematical relations are modeled and then the mechanical motion is examined. In the following, we will examine the effect of buckling on the bars. The Trajectory for this mechanism under the influence of buckling bars, so that the internal elements of the mechanism do not collide with each other, will also be examined in this study. In the following, the distance between each element during the motion simulation was investigated and possible collisions during the movement of the mechanism were eliminated.