Kinematics of Long-Chain Variable Geometry Truss Manipulators: An Overview of Solution Techniques
This paper is intended to provide an overview of several novel solution techniques which have been developed to solve the kinematics of variable-geometry-truss manipulators. This topic is briefly explored by first introducing two simple one-bay manipulators. These simple Variable-Geometry-Truss (VGT) manipulators can be used as the fundamental building blocks in constructing long-chain, high degree-offreedom manipulators. The more important issue of performing kinematic analyses on long chains of these manipulators will also be addressed. To yield solutions in real-time, this topic requires many innovative solution techniques such as hierarchical solution methods, structural optimization, and parallel computation. To serve as examples, the basic elemental structures discussed will be used to construct a thirty-degree-of-freedom planar manipulator and a sixty-degree-of-freedom spatial manipulator.
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