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truss manipulators

Robotica (1)

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Kinematics of a n–bay triangle–triangle variable geometry truss manipulator
L. Beiner
Journal:

Robotica / Volume 10 / Issue 3 / May 1992

Published online by Cambridge University Press:

09 March 2009, pp. 263-267
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Variable geometry truss manipulators (VGTM) are static trusses where the lengths of some members can be varied, allowing one to control the position of the free end relative to the fixed one. This paper deals with a planar VGTM consisting of a n–bay triangle-triangle truss with one variable length link (i.e. one DOF) per bay. Closed-form solutions to the forward, inverse, and velocity kinematics of a 3-DOF version of this VGTM are presented, while the forward and inverse kinematics of an n–DOF (redundant) one are solved by a recursive and an iterative method, respectively. A numerical example is presented.