FORWARD AND INVERSE KINEMATIC SOLUTION OF THE VARIABLE GEOMETRY TRUSS ROBOT BASED ON AN N-CELLED TETRAHEDRON-TETRAHEDRON TRUSS

被引：19

作者：

JAIN, S

KRAMER, SN

机构：

[1] Department of Mechanical Engineering, The University of Toledo, Toledo, OH

来源：

JOURNAL OF MECHANICAL DESIGN | 1990年 / 112卷 / 01期

关键词：

D O I：

10.1115/1.2912572

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The Tetrahedron-Tetrahedron truss (or TT truss for short) has exceptional stability, stiffness, and load-carrying capabilities. Because of this fact, the TT truss is well suited for use as a variable geometry truss manipulator (VGTM) by appropriately choosing certain links whose variable lengths can be controlled. Since the TT truss is composed of n-cells, its applications include the retrieval of equipment, bridges over and around obstacles, and applications which utilize collapsible programmable structures capable of relatively large displacements. In this paper an actuation scheme and the general solution to the forward and inverse kinematics problems for an n-celled TT truss are presented. Numerical examples are also presented. © 1990 ASME.

引用

页码：16 / 22

页数：7

共 12 条

[1]

Badie A., Carpenter C., Generalization of the wolfe reduced gradient method to the case of nonlinear constraints, Optimization, (1969)

[2]

Beveridge G., Schechter R., Optimization: Theory and Practice, (1970)

[3]

Crawford R.F., Mikulas M.M., Sequentially Deployable Maneuverable Tetrahedral Beam, (1982)

[4]

Gabriele G.A., Ragsdell K.M., The generalized reduced gradient method: A reliable tool for optimal design, ASME Journal of Engineering for Industry, Series B, 99, pp. 394-400, (1977)

[5]

Gabriele G.A., Ragsdell K.M., OPT Users Manual, (1986)

[6]

Mabie H.H., Reinholtz C.F., Mechanisms and Dynamics of Machinery, (1987)

[7]

Miura K., Furuya H., Suzuki K., Variable Geometry Truss and Its Application to Deployable Truss and Space Crane Arm, (1984)

[8]

Miura K., Furuya H., An Adaptive Structure Concept for Future Space Application, (1985)

[9]

Premkumar P., Kramer S., Synthesis of multi-loop spatial mechanisms by iterative analysis: The rssr-ss path generator, Proceedings of Theasme Trends and Developments in Mechanisms, 1, pp. 457-462, (1988)

[10]

Reinholtz C.F., Gokhale D., Design and analysis of variable geometry truss robots, Proceedings of the Tenth Applied Mechanisms Conference, 1, (1987)

← 1 2 →