Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control

1993 ◽  
Author(s):  
P. S. Krishnaprasad ◽  
Dimitris P. Tsakiris
Keyword(s):  
Motion Control ◽  
Variable Geometry ◽  
Variable Geometry Truss

Motion control of free-floating variable geometry truss. I - Kinematics

1996 ◽  
Vol 19 (4) ◽  
pp. 756-763 ◽  
Author(s):  
Shengyang Huang ◽  
M. C. Natori ◽  
Kohichi Miura
Keyword(s):  
Motion Control ◽  
Variable Geometry ◽  
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.

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