Abstract
The forward kinematics of an octahedral type variable-geometry truss manipulator is presented. The manipulator is comprised of two stacked octahedral trusses. The intersection of the octahedra consist of 3 linear actuators, which are used to control the position of the moving plane of the manipulator relative to the base, giving the mechanism a 3-DOF capability A kinematical model of the manipulator is presented which includes important features of nonequal octahedral geometry and inter-hinge displacements. Vectorial equations are formulated to reduce the problem into two systems of nonlinear equations, each of which has three unknowns. Each system of equations is shown to have 8 reflected solution pairs through the formulation of polynomials in one variable, giving the manipulator a maximum of 256 unique configurations for one set of actuator lengths. Numerical examples confirm the validity of the results.
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© 1993 Springer Science+Business Media Dordrecht
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Hertz, R.B., Hughes, P.C. (1993). Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator. In: Angeles, J., Hommel, G., Kovács, P. (eds) Computational Kinematics. Solid Mechanics and Its Applications, vol 28. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8192-9_22
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DOI: https://doi.org/10.1007/978-94-015-8192-9_22
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4342-9
Online ISBN: 978-94-015-8192-9
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