Relevant bibliographies by topics / Variable Geometry Truss Manipulators

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Variable Geometry Truss Manipulators'

Author: Grafiati
Published: 4 June 2021
Last updated: 13 February 2022

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Journal articles on the topic "Variable Geometry Truss Manipulators"

1

Naccarato, Frank, and Peter Hughes. "Inverse kinematics of variable-geometry truss manipulators." Journal of Robotic Systems 8, no. 2 (1991): 249–66. http://dx.doi.org/10.1002/rob.4620080207.

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Furuya, Hiroshi, and Kenichi Higashiyama. "Dynamics of closed linked variable geometry truss manipulators." Acta Astronautica 36, no. 5 (1995): 251–59. http://dx.doi.org/10.1016/0094-5765(95)00104-8.

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Padmanabhan, B., V. Arun, and C. F. Reinholtz. "Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators." Journal of Mechanical Design 114, no. 3 (1992): 438–43. http://dx.doi.org/10.1115/1.2926571.

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A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic problem, yet only a few isolated examples of closed-form solution methods have been presented to date. This paper provides an overview to the general problem of inverse kinematic analysis of variable-geometry truss manipulators and presents new closed-form solution techniques for problems of practical importance.
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Xu, L. J., G. Y. Tian, Y. Duan, and S. X. Yang. "Inverse kinematic analysis for triple-octahedron variable-geometry truss manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 215, no. 2 (2001): 247–51. http://dx.doi.org/10.1243/0954406011520571.

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In this paper, a new triple-octahedron variable-geometry truss manipulator is presented. Its inverse kinematic solutions in closed form are studied. An input-output displacement equation in one output variable is derived. The solution procedure is given in detail. A numerical example is illustrated.
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Hughes, P. C., W. G. Sincarsin, and K. A. Carroll. "Trussarm—A Variable-Geometry-Truss Manipulator." Journal of Intelligent Material Systems and Structures 2, no. 2 (1991): 148–60. http://dx.doi.org/10.1177/1045389x9100200202.

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Arun, V., C. F. Reinholtz, and L. T. Watson. "Application of New Homotopy Continuation Techniques to Variable Geometry Trusses." Journal of Mechanical Design 114, no. 3 (1992): 422–27. http://dx.doi.org/10.1115/1.2926568.

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A VGT, or Variable Geometry Truss, can be thought of as a statically determinate truss that has been modified to contain some number of variable length members. These extensible members allow the truss to vary its configuration in a controlled manner. Some of the typical applications envisioned for VGTs are as booms to position equipment in space, as supports for space antennae, and as berthing devices. Recently, they have also been proposed as parallel-actuated, long chain, high dexterity manipulators. This paper will demonstrate the use of homotopy continuation in solving the kinematics of relatively complex variable geometry trusses (VGTs) including the octahedron and the decahedron. The procedural aspects are described in detail with the help of examples.
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Xu, Qimin, Yongsheng Yang, Zhongliang Jing, and Shiqiang Hu. "Forward kinematics analysis for a class of asymmetrical parallel manipulators." International Journal of Advanced Robotic Systems 14, no. 1 (2017): 172988141667813. http://dx.doi.org/10.1177/1729881416678132.

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This article focuses on the forward kinematic analysis of a class of asymmetrical parallel manipulators by the proposed elimination approach. To solve the key forward kinematic constraint equations with transcendental parameters of the manipulator, an improved elimination algorithm is presented. First, by analyzing the geometry structure of the manipulator, we find the inherent triangular-topology relations of the manipulator. Further, by utilizing the parameter transformation of angular, the key transcendental equations of forward kinematic analysis are formulated into compact polynomial ones. In this context, comparing with the screw approach by Gallardo-Alvarado suggested that the computation efficiency of our proposed approach is superior. Finally, an example of the asymmetrical variable geometry truss manipulator illustrates the effectiveness of the proposed approach.
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Beiner, L. "Kinematics of a n–bay triangle–triangle variable geometry truss manipulator." Robotica 10, no. 3 (1992): 263–67. http://dx.doi.org/10.1017/s0263574700007992.

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SUMMARYVariable geometry truss manipulators (VGTM) are static trusses where the lengths of some members can be varied, allowing one to control the position of the free end relative to the fixed one. This paper deals with a planar VGTM consisting of a n–bay triangle-triangle truss with one variable length link (i.e. one DOF) per bay. Closed-form solutions to the forward, inverse, and velocity kinematics of a 3-DOF version of this VGTM are presented, while the forward and inverse kinematics of an n–DOF (redundant) one are solved by a recursive and an iterative method, respectively. A numerical example is presented.
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Liu, Xiaofeng, Qisuai Wang, Haiquan Li, and Guoping Cai. "Dynamics and control of variable geometry truss manipulator." Applied Mathematics and Mechanics 38, no. 2 (2016): 243–62. http://dx.doi.org/10.1007/s10483-017-2164-9.

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Xu, Li-Ju, Shou-Wen Fan, and Hong Li. "Analytical model method for dynamics of N-celled tetrahedron–tetrahedron variable geometry truss manipulators." Mechanism and Machine Theory 36, no. 11-12 (2001): 1271–79. http://dx.doi.org/10.1016/s0094-114x(01)00050-7.

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Dissertations / Theses on the topic "Variable Geometry Truss Manipulators"

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Salerno, Robert James. "Shape control of high degree-of-freedom Variable Geometry Truss manipulators." Thesis, Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/50089.

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Variable Geometry Trusses (VGT’s) can be used as the fundamental building blocks in constructing long-chain, high degree-of-freedom manipulators. This thesis focuses on the kinematics of two such manipulators. It also illustrates how the concept of shape control can be applied to simplify the computational aspects of controlling these devices. To serve as examples, algorithms are developed for the control of both a thirty degree of freedom planar manipulator and a sixty degree-of-freedom spatial manipulator. Based on a review of the literature, this work appears to be the first attempt to develop real-time, position control strategies for such highly-dexterous manipulators.<br>Master of Science<br>incomplete_metadata
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Gokhale, Dipen P. "Kinematic analysis and animation of a variable geometry truss robot." Thesis, Virginia Tech, 1987. http://hdl.handle.net/10919/45677.

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<p>In this thesis, forward and inverse kinematic equations are developed for a parallel, closed-loop manipulator known as the Variable Geometry Truss or VGT for short. Widely recognized as adaptive or collapsing structures for space and military applications, VGTs have not received due consideration as robotic manipulators. VGTs undoubtedly represent an important sector of future manipulator applications. VGTs are typically constructed using repeating identical cells or modules and they have exceptional stiffness to weight ratios. </p> <p>The data obtained from solving the forward kinematic equations is used for animation of the VGT. For animation, three dimensional graphics software, graPHIGS is used. Additionally, the kinematic analysis equations are used to map out workspace of the VGT. An experiment is also carried out to verify the computational results.</p><br>Master of Science
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Lee, Regina Sun-Kyung. "Kinematic control experiments with Trussarm, a Variable-Geometry-Truss manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape3/PQDD_0027/NQ49815.pdf.

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Padmanabhan, Babu. "A study of isostatic framework with application to manipulator design." Diss., Virginia Tech, 1992. http://hdl.handle.net/10919/29317.

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Isostatic frameworks are statically determinate trusses that are self contained (Le. they exist independent of support or foundation). Isostatic frameworks have been widely used as supporting structures, and recently they have been used as the structure for parallel manipulators. These truss-based manipulators could potentially solve the problems facing conventional manipulators and could make the design of high-degree-of-freedom manipulators feasible. The rigorous scientific study of isostatic frameworks and manipulators based on their structure has been limited. Recent developments in the design of large space structures and truss-based manipulators, however, demand rigorous design and mathematical tools. This dissertation provides a general theory for the design of structures based on frameworks and methods to analyze the kinematics of truss-based manipulators. The objective of the first part of this dissertation is to solve the problems of identification, generation and classification of isostatic frameworks in greater depth than in any past work in this area. Original methods are discussed for the enumeration and generation of isostatic frameworks. The first part also presents an original method to determine the geometry of general frameworks and an improved method to find the forces in their members. The determination of geometry and forces are critical areas in structural design. The second part of this dissertation presents a case study on one of the candidates for manipulator applications, the double-octahedral manipulator. The kinematic analyses of the double-octahedral manipulator includes methods to perform forward and inverse kinematic analysis, velocity and acceleration analysis, singularity analysis and workspace analysis. The closed-form solution to the inverse analysis presented herein is a major breakthrough in the development of the double-octahedral manipulator. Other analysis, such as velocity and acceleration, singularity, and workspace, depend on the inverse solution. It is believed that these solutions will help narrow the gap between theory and application of truss-based manipulators. The determination of singularities and works paces are application of recent ideas of other researchers. However, original implementations of these ideas have yielded astonishing results. The Jacobian and Hessian matrix presented in this dissertation should help in developing the control scheme for this device. C-Ianguage program codes for several of the methods are also provided. The methods have been tested based on the results obtained from these programs. The position analysis algorithms have also been tested on real hardware. Some of the methods developed here have been successfully employed for simulated and experimental vibration control studies.<br>Ph. D.
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Tidwell, Paul H. "Design and construction of a double-octahedral variable geometry truss manipulator." Thesis, Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/74544.

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This thesis deals with the design and construction of a variable geometry truss (VGT) of the double-octahedral (pyramid-pyramid) geometry. The truss is expected to be the focus of several experimental research projects. In this thesis, a kinematic model is formulated, and the forward and inverse kinematic problems are solved. Issues of motor and instrumentation choices are addressed. Dimensional choices and the important problems of joint design are examined. A computer simulation is performed for force and vibration analysis. A fully collapsible double-octahedral variable geometry truss with three degrees of freedom was built using NC machining technologies. An improved second generation twenty-one degree-of-freedom truss will be built based on this original test article.<br>Master of Science
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Oikawa, Stephen Oliver. "Design and construction of a four-bay variable-geometry-truss manipulator arm." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1995. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ45463.pdf.

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Arun, V. "The solution of variable-geometry truss problems using new homotopy continuation methods." Diss., This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-09162005-115035/.

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Whittier, William Brooks. "Kinematic Analysis of Tensegrity Structures." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/35909.

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Tensegrity structures consist of isolated compression members (rigid bars) suspended by a continuous network of tension members (cables). Tensegrity structures can be used as variable geometry truss (VGT) mechanisms by actuating links to change their length. This paper will present a new method of position finding for tensegrity structures that can be used for actuation as VGT mechanisms. Tensegrity structures are difficult to understand and mathematically model. This difficulty is primarily because tensegrity structures only exist in specific stable tensegrity positions. Previous work has focused on analysis based on statics, dynamics, and virtual work approaches. This work considers tensegrity structures from a kinematic viewpoint. The kinematic approach leads to a better understanding of the conditions under which tensegrity structures exist in the stable positions. The primary understanding that comes from this kinematic analysis is that stable positions for tensegrity structures exist only on the boundaries of nonassembly of the structure. This understanding also allows the tensegrity positions to be easily found. This paper presents a method of position finding based on kinematic constraints and applies that method to several example tensegrity structures.<br>Master of Science
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Mallik, Wrik. "Aeroelastic Analysis of Truss-Braced Wing Aircraft: Applications for Multidisciplinary Design Optimization." Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/71650.

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This study highlights the aeroelastic behavior of very flexible truss-braced wing (TBW) aircraft designs obtained through a multidisciplinary design optimization (MDO) framework. Several improvements to previous analysis methods were developed and validated. Firstly, a flutter constraint was developed and the effects of the constraint on the MDO of TBW transport aircraft for both medium-range and long-range missions were studied while minimizing the take-off gross weight (TOGW) and the fuel burn as the objective functions. Results show that when the flutter constraint is applied at 1.15 times the dive speed, it imposes a 1.5% penalty on the take-off weight and a 5% penalty on the fuel consumption while minimizing these two objective functions for the medium-range mission. For the long-range mission, the penalties imposed by the similar constraint on the minimum TOGW and minimum fuel burn designs are 3.5% and 7.5%, respectively. Importantly, the resulting TBW designs are still superior to equivalent cantilever designs for both of the missions as they have both lower TOGW and fuel burn. However, a relaxed flutter constraint applied at 1.05 times the dive speed can restrict the penalty on the TOGW to only 0.3% and that on the fuel burn to 2% for minimizing both the objectives, for the medium-range mission. For the long-range mission, a similar relaxed constraint can reduce the penalty on fuel burn to 2.9%. These observations suggest further investigation into active flutter suppression mechanisms for the TBW aircraft to further reduce either the TOGW or the fuel burn. Secondly, the effects of a variable-geometry raked wingtip (VGRWT) on the maneuverability and aeroelastic behavior of passenger aircraft with very flexible truss-braced wings (TBW) were investigated. These TBW designs obtained from the MDO environment while minimizing fuel burn resemble a Boeing 777-200 Long Range (LR) aircraft both in terms of flight mission and aircraft configuration. The VGRWT can sweep forward and aft relative to the wing with the aid of a Novel Control Effector (NCE) mechanism. Results show that the VGRWT can be swept judiciously to alter the bending-torsion coupling and the movement of the center of pressure of wing. Such behavior of the VGRWT is applied to both achieve the required roll control as well as to increase flutter speed, and thus, enable the operation of TBW configurations which have up to 10% lower fuel burn than comparable optimized cantilever wing designs. Finally, a transonic aeroelastic analysis tool was developed which can be used for conceptual design in an MDO environment. Routine transonic aeroelastic analysis require expensive CFD simulations, hence they cannot be performed in an MDO environment. The present approach utilizes the results of a companion study of CFD simulations performed offline for the steady Reynolds Averaged Navier Stokes equations for a variety of airfoil parameters. The CFD results are used to develop a response surface which can be used in the MDO environment to perform a Leishman-Beddoes (LB) indicial functions based flutter analysis. A reduced-order model (ROM) is also developed for the unsteady aerodynamic system. Validation of the strip theory based aeroelastic analysis with LB unsteady aerodynamics and the computational efficiency and accuracy of the ROM is demonstrated. Finally, transonic aeroelastic analysis of a TBW aircraft designed for the medium-range flight mission similar to a Boeing 737 next generation (NG) with a cruise Mach number of 0.8 is presented. The results show the potential of the present approach to perform a more accurate, yet inexpensive, flutter analysis for MDO studies of transonic transport aircraft which are expected to undergo flutter at transonic conditions.<br>Ph. D.
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Books on the topic "Variable Geometry Truss Manipulators"

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Naccarato, Frank. Inverse kinematics of variable-geometry truss manipulators. [s.n.], 1991.

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Naccarato, Frank. Inverse kinematics of variable-geometry truss manipulators. Wiley, 1991.

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C, Hughes Peter. Trussarm - a variable-geometry-truss manipulator. Technomic Publishing Co, 1991.

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Hughes, Peter C. Trussarm - a variable-geometry-truss manipulator. [s.n.], 1991.

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Gokhale, Dipen P. Kinematic analysis and animation of a variable geometry truss robot. Virginia Polytechnic Institute and State University, 1987.

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Oikawa, Stephen Oliver. Design and construction of a four-bay Variable-Geometry-Truss Manipulator arm. National Library of Canada, 1995.

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Fenske, David Allan. Real-time control of the Trussarm variable-geometry-truss manipulator utilizing machine vision. University of Toronto, [Institute for Aerospace Studies], 1993.

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Joshi, Nandan. Mobility analysis of variable geometry trusses. Virginia Polytechnic Institute and State University, 1988.

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Kung, Hsiao-Feng. Dynamics and control of a spatial truss actuator. Virginia Polytechnic Institute and State University, 1988.

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Padmanabhan, Babu. Design of a robotic manipulator using variable geometry trusses as joints. Virginia Polytechnic Institute and State University, 1988.

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Book chapters on the topic "Variable Geometry Truss Manipulators"

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Iregui, Santiago, and Carlos F. Rodriguez. "Study of a Class of Variable Geometry Truss Manipulators." In Multibody Mechatronic Systems. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60372-4_10.

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Li, Chuanyang, Huiyin Yan, Hongwei Guo, Dewei Tang, Rongqiang Liu, and Zongquan Deng. "Revised Kinematics of Rope–Bar Variable Geometry Truss Manipulator." In Advances in Mechanism and Machine Science. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20131-9_66.

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Salerno, Robert J., Charles F. Reinholtz, and Sanjay G. Dhande. "Kinematics of Long-Chain Variable Geometry Truss Manipulators: An Overview of Solution Techniques." In Advances in Robot Kinematics. Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_21.

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Hertz, Roger B., and Peter C. Hughes. "Forward Kinematics of a 3-DOF Variable-Geometry-Truss Manipulator." In Solid Mechanics and Its Applications. Springer Netherlands, 1993. http://dx.doi.org/10.1007/978-94-015-8192-9_22.

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Luo, Youxin, Bin Zeng, and Zheming He. "Hyper-Chaotic Mathematical Programming Method and Its Application to Dodecahedron Variable Geometry Truss Manipulator." In Advances in Neural Networks – ISNN 2009. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01507-6_116.

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Inoue, Fumihiro. "Development of Adaptive Construction Structure by Variable Geometry Truss." In Robotics and Automation in Construction. InTech, 2008. http://dx.doi.org/10.5772/5543.

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Kotlarski, Jens, Bodo Heimann, and Tobias Ortmaier. "Improving the Pose Accuracy of Planar Parallel Robots using Mechanisms of Variable Geometry." In Advances in Robot Manipulators. InTech, 2010. http://dx.doi.org/10.5772/9664.

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Conference papers on the topic "Variable Geometry Truss Manipulators"

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Xu, Li-Ju, and Jiang Wu. "The Kinematics of Redundant Tetrahedron Based Variable Geometry Truss Manipulators Based on Neural Network." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14212.

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Abstract The forward displacement analysis of redundant tetrahedron based variable geometry truss manipulators is obtained based on BP neural network, and then a solution to inverse displacement analysis problem is obtained. According to the above network model, the first- and second-order influence coefficients are derived, and the pseudo-inverse of Jacobian matrix is obtained by using a neural network. Finally the simulation calculation of kinematics for a seven celled tetrahedron-tetrahedron variable geometry truss manipulator is given for illustration.
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Arun, V., Babu Padmanabhan, Krishnan Kolady, and Charles F. Reinholtz. "Determination of the Workspace of the 3-DOF Double-Octahedral Variable-Geometry-Truss Manipulator." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0250.

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Abstract This paper presents methods to determine the workspace of the 3-DOF double-octahedral variable-geometry-truss manipulator (VGTM). These methods take advantage of some of the geometric properties inherent in octahedral VGT construction and define regions in space whose intersection results in the workspace of the manipulator. This approach of obtaining a ‘common volume’ can be extended to other parallel manipulators.
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Xu, Li Ju, and Jiang Wu. "The Dynamic Model of Redundant Tetrahedron Based Variable Geometry Truss Manipulators Based on Fuzzy Neural Network." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14162.

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Abstract In this paper the dynamic model of redundant tetrahedron based variable geometry truss manipulators are investigated based on fuzzy neural network. The dynamic model system is divided into three subsystems. The inertial matrix, centrifugal and Coriolis matrix, gravity matrix are trained respectively by using three fuzzy network models, and then the solutions to inverse dynamic model problem can be obtained. Finally, the simulation calculation of dynamics for a four celled tetrahedron-tetrahedron variable geometry truss manipulator is given for illustration.
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Canfield, Stephen L., R. Randall Soper, Scott L. Hendricks, and Charles F. Reinholtz. "Velocity Analysis of Truss-Type Manipulators." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1158.

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Abstract A generalized method for the velocity analysis of truss-type manipulators is presented. This analysis relies on a priori knowledge of the position analysis for the manipulator. The approach uses a connectivity chart to define the equations required to determine the velocities of the nodal points of the truss. The problem of determining the nodal velocities is formulated as a linear algebraic relationship for ease of analytical and numerical manipulation. Once each nodal velocity is known, a general description of the overall manipulator velocity is formed by determining the instantaneous screw axis for the output plane. An analytical method for characterizing this output velocity in terms of the instantaneous screw axis is presented. Analysis of each of the four basic variable geometry truss modules (tetrahedron, octahedron, decahedron, and dodecahedron) is presented. Although ad hoc velocity analyses of many of these manipulators have been presented in the past, the technique presented in this paper is unified for any truss-type manipulator.
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Xu, Li Ju, Yang Duan, and Sui Xian Yang. "Closed-Form Inverse Kinematic Solution of Triple Octahedron Variable Geometry Truss Manipulators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5955.

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Abstract In this paper the triple-octahedron variable geometry truss manipulator is presented and its inverse displacement analysis in closed form is studied, Input-output displacement equation in one output variable is derived. The solution procedure is given in detail. A numerical example is presented for illustration.
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Soper, R. Randall, Charles F. Reinholtz, Stephen L. Canfield, and Robert L. Williams. "Contention-Free Control of Over-Constrained Variable Geometry Trusses." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/dac-8668.

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Abstract A unified velocity analysis approach for Variable Geometry Trusses (VGTs) is employed to develop a direct strategy for actuator contention avoidance in over-constrained architectures. Techniques of matrix theory are used to meet all boundary and structural constraints simultaneously. The null-space of a square matrix of dimension equal to the number of actuators forms a basis for contention-free trajectories. Further, the unified velocity analysis procedure, is modified to improve efficiency in the case of open serial chains of truss-type or truss-like manipulators. When applied to over-constrained architectures, an iterative velocity analysis procedure results.
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Xu, Li Ju, Hong Li, and Shou Wen Fan. "Analytical Model Method for Dynamics of N-Celled Tetrahedron-Tetrahedron Variable Geometry Truss Manipulators." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5862.

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Abstract In this paper some fundamental formulae are derived for tetrahedron-based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable on length. Analytical model for dynamics of the manipulator is established, and expressions in numeric-symbolic form of model matrices are derived. An example is given for illustration.
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Zhao, Yanchun, Shiqiang Hu, and Yongsheng Yang. "Trajectory planning for variable geometry truss manipulator via LMI optimization." In 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI). IEEE, 2014. http://dx.doi.org/10.1109/mfi.2014.6997681.

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Shen, Dingdong, and Shiqiang Hu. "Space Variable Geometry Truss Manipulator Experimental System Design and Implementation." In the 2017 International Conference. ACM Press, 2017. http://dx.doi.org/10.1145/3045714.3045724.

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Xu, Li-Ju, Sui-Xian Yang, and Zhao-Fei Zhou. "A Direct Displacement Solution to the Dodecahedron Variable Geometry Truss Manipulator." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/dac-1465.

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Abstract Homotopy continuation algorithms for solving the direct position problem of the dodecahedron variable geometry truss manipulator are proposed in this paper. The homogeneous equations and the division of groups are presented which give the lowest Bezout number. The solution procedure is given in detail. A numerical example is presented for illustration.
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Reports on the topic "Variable Geometry Truss Manipulators"

1

Krishnaprasad, P. S., and Dimitris P. Tsakiris. Nonholonomic Variable Geometry Truss Assemblies. 1. Motion Control. Defense Technical Information Center, 1993. http://dx.doi.org/10.21236/ada453147.

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