Forward and Inverse Kinematic Solution of the Variable Geometry Truss Robot Based on an N-Celled Tetrahedron-Tetrahedron Truss

• DOI: 10.1115/1.2912572
• Publication Date: 2008-06-07T23:45:37Z
• Authors: S. Jain; S. N. Kramer
• Keywords: Tetrahedron

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