The Inverse Kinematic Solution of the Tetrahedron Based Variable-Geometry Truss Manipulator

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

Department of Mechanical Engineering, The University of Toledo, Toledo, Ohio 43606

J. Mech. Des 114(3), 433-437 (Sep 01, 1992) (5 pages) doi:10.1115/1.2926570 History: Received March 01, 1990; Online June 02, 2008


The Tetrahedron Based Variable Geometry Truss Manipulator is comprised of a series of tetrahedrons stacked upon one another in a spiraling manner. When one link of each “cell” is made variable in length, the system can be effectively used as a remote manipulator. The manipulator is kinematically equivalent to a serial link manipulator consisting only of revolute joints where the angle between successive axes is 120°. In this paper, a closed-form analytic solution for the six-celled (6R series) variable geometry truss manipulator is obtained. It is shown that a sixteenth order polynomial in one of the joint angles is found which leads to at most sixteen solutions.

Copyright © 1992 by The American Society of Mechanical Engineers
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