This software aims to facilitate the statics and dynamics of Tensegrity systems based on FEM. The software allows modeling, structural design, nonlinear static, and dynamic FEM simulation of any tensegrity and truss systems. TsgFEM allows users to perform accurate dynamics and statics analysis for any tensegrity structures, including: (1). Rigid body dynamics with acceptable errors. This is achieved by setting relatively high stiffness bars in the dynamics simulation. (2). Actuate FEM dynamics simulation with elastic or plastic deformations in the presence of various kinds of boundary conditions, such as fixing any nodes in any direction, applying static or dynamic external forces (i.e., gravitational force, some specified forces, or random seismic vibrations). (3). Accurate modal analysis, including natural frequency and corresponding modes. (4). An interface towards structural control by a compact state-space form of an accurate linear model. (5). Statics analysis allows one to do form-finding, static load analysis, and critical buckling analysis.