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RESEARCH PAPERS

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

Abstract

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
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