Dynamics and control of variable geometry truss manipulator

2016 ◽  
Vol 38 (2) ◽  
pp. 243-262 ◽  
Author(s):  
Xiaofeng Liu ◽  
Qisuai Wang ◽  
Haiquan Li ◽  
Guoping Cai
Keyword(s):  
Variable Geometry ◽  
Dynamics And Control ◽  
And Control ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

Dynamics and control of variable-geometry truss structures

1999 ◽  
Vol 45 (12) ◽  
pp. 717-728 ◽  
Author(s):  
B.A. Boutin ◽  
Arun K. Misra ◽  
V.J. Modi
Keyword(s):  
Truss Structures ◽  
Variable Geometry ◽  
Dynamics And Control ◽  
And Control ◽  
Variable Geometry Truss

Analytical Model Method for Dynamics of N-Celled Tetrahedron-Tetrahedron Variable Geometry Truss Manipulators

1998 ◽  
Author(s):  
Li Ju Xu ◽  
Hong Li ◽  
Shou Wen Fan
Keyword(s):  
Analytical Model ◽  
Variable Geometry ◽  
Symbolic Form ◽  
Model Method ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

Abstract In this paper some fundamental formulae are derived for tetrahedron-based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable on length. Analytical model for dynamics of the manipulator is established, and expressions in numeric-symbolic form of model matrices are derived. An example is given for illustration.

A Direct Displacement Solution to the Dodecahedron Variable Geometry Truss Manipulator

1996 ◽  
Author(s):  
Li-Ju Xu ◽  
Sui-Xian Yang ◽  
Zhao-Fei Zhou
Keyword(s):  
Solution Procedure ◽  
Homotopy Continuation ◽  
Variable Geometry ◽  
Numerical Example ◽  
Position Problem ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

Abstract Homotopy continuation algorithms for solving the direct position problem of the dodecahedron variable geometry truss manipulator are proposed in this paper. The homogeneous equations and the division of groups are presented which give the lowest Bezout number. The solution procedure is given in detail. A numerical example is presented for illustration.

Kinematics of a n–bay triangle–triangle variable geometry truss manipulator

Robotica ◽  
1992 ◽  
Vol 10 (3) ◽  
pp. 263-267
Author(s):  
L. Beiner
Keyword(s):  
Iterative Method ◽  
Closed Form ◽  
Inverse Kinematics ◽  
Variable Length ◽  
Variable Geometry ◽  
Closed Form Solutions ◽  
Numerical Example ◽  
Forward And Inverse Kinematics ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

SUMMARYVariable geometry truss manipulators (VGTM) are static trusses where the lengths of some members can be varied, allowing one to control the position of the free end relative to the fixed one. This paper deals with a planar VGTM consisting of a n–bay triangle-triangle truss with one variable length link (i.e. one DOF) per bay. Closed-form solutions to the forward, inverse, and velocity kinematics of a 3-DOF version of this VGTM are presented, while the forward and inverse kinematics of an n–DOF (redundant) one are solved by a recursive and an iterative method, respectively. A numerical example is presented.

Determination of the Workspace of the 3-DOF Double-Octahedral Variable-Geometry-Truss Manipulator

1992 ◽  
Author(s):  
V. Arun ◽  
Babu Padmanabhan ◽  
Krishnan Kolady ◽  
Charles F. Reinholtz
Keyword(s):  
Parallel Manipulators ◽  
Variable Geometry ◽  
Geometric Properties ◽  
Variable Geometry Truss Manipulator ◽  
Variable Geometry Truss

Abstract This paper presents methods to determine the workspace of the 3-DOF double-octahedral variable-geometry-truss manipulator (VGTM). These methods take advantage of some of the geometric properties inherent in octahedral VGT construction and define regions in space whose intersection results in the workspace of the manipulator. This approach of obtaining a ‘common volume’ can be extended to other parallel manipulators.

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