Five sets of three diagonals will connect 15 pairs of vertices without any intersections or any diagonals on an edge or face. All 5 sets have 3-fold rotational symmetry around a common axis (shown here as the yellow strut with no connectors). In this example, the purple and light purple strut sets are the same length, but the other three sets each have different lengths. All of the diagonals are longer than the radius of the polyhedron.
The struts don't meet the criteria for being transitive under icosahedral symmetry, but they may still provide a usable basis for a tensegrity model which is the reason this [vZome](http://vzome.com) model was developed.
[Stack Exchange Question](https://math.stackexchange.com/questions/2719650/is-there-a-transitive-set-of-disjoint-diagonals-of-an-icosidodecahedron)
[Studio Infinity](http://studioinfinity.org/blog/2017/11/07/the-icloseidodecahedron/)