Forward and Inverse Kinematic Solution of the Variable Geometry Truss Robot Based on an N-Celled Tetrahedron-Tetrahedron Truss

[+] Author and Article Information
S. Jain, S. N. Kramer

Department of Mechanical Engineering, The University of Toledo, Toledo, Ohio

J. Mech. Des 112(1), 16-22 (Mar 01, 1990) (7 pages) doi:10.1115/1.2912572 History: Received March 01, 1988; Online June 02, 2008


The Tetrahedron-Tetrahedron truss (or TT truss for short) has exceptional stability, stiffness, and load-carrying capabilities. Because of this fact, the TT truss is well suited for use as a variable geometry truss manipulator (VGTM) by appropriately choosing certain links whose variable lengths can be controlled. Since the TT truss is composed of n-cells, its applications include the retrieval of equipment, bridges over and around obstacles, and applications which utilize collapsible programmable structures capable of relatively large displacements. In this paper an actuation scheme and the general solution to the forward and inverse kinematics problems for an n-celled TT truss are presented. Numerical examples are also presented.

Copyright © 1990 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In