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Kinematics of Long-Chain Variable Geometry Truss Manipulators: An Overview of Solution Techniques

  • Robert J. Salerno
  • Charles F. Reinholtz
  • Sanjay G. Dhande
Conference paper

Abstract

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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References

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    Salerno, R.J., “Shape Control of High Degree-of-Freedom Variable Geometry Truss Manipulators,” Masters Thesis, Virginia Polytechnic Institute and State University, Blacksburg, VA, June 1989.Google Scholar
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    Griffis, M., Duffy, J., “A Forward Displacement Analysis of a Class of Stewart Platforms,” publication of the Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL, Jan. 1989.Google Scholar
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    Mortenson, M.E., Geometric Modeling, J. Wiley and Sons, N.Y., N.Y., 1985.Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Robert J. Salerno
    • 1
  • Charles F. Reinholtz
    • 1
  • Sanjay G. Dhande
    • 1
  1. 1.Mechanical Engineering DepartmentVirginia Polytechnic Institute and State UniversityBlacksburgUSA

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