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SME MS94-194
- Synthesis And Analysis Of A New Class Of Variable Geometry Truss Manipulators
- standard by Society of Manufacturing Engineers, 06/01/1994
- Publisher: SME
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A NEW CLASS OF 3 DOF VARIABLE GEOMETRY TRUSS MANIPULATORS IS PROPOSED. THE MANIPULATOR IS COMPOSED OF AN OCTAHEDRON AND THREE TETRAHEDRONS CONNECTED IN A PARALLEL FORM AND DESIGNED TO BE COLLAPSIBLE AND SYMMETRICAL. A METHOD FOR THE DISPLACEMENT ANALYSIS OF THE MANIPULATORS IS ALSO PRESENTED. THE CLOSED-FORM SOLUTIONS FOR THE FORWARD AND INVERSE DISPLACEMENT ANALYSIS CAN BE OBTAINED BY EXPLICIT EXPRESSIONS. THEREFORE, THE METHOD PRODUCES ACCURATE SOLUTIONS WITH MINIMAL COMPUTATION.
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