Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators

[+] Author and Article Information
B. Padmanabhan, V. Arun, C. F. Reinholtz

Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061

J. Mech. Des 114(3), 438-443 (Sep 01, 1992) (6 pages) doi:10.1115/1.2926571 History: Received March 01, 1990; Online June 02, 2008


A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.

Copyright © 1992 by The American Society of Mechanical Engineers
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