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dc.contributor.authorGokhale, Dipen P.en
dc.date.accessioned2014-03-14T21:49:37Zen
dc.date.available2014-03-14T21:49:37Zen
dc.date.issued1987-12-03en
dc.identifier.otheretd-11142012-040254en
dc.identifier.urihttp://hdl.handle.net/10919/45677en
dc.description.abstract

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.

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.

en
dc.format.mediumBTDen
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V855_1987.G645.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectManipulators (Mechanism)en
dc.subject.lccLD5655.V855 1987.G645en
dc.titleKinematic analysis and animation of a variable geometry truss roboten
dc.typeThesisen
dc.contributor.departmentMechanical Engineeringen
dc.description.degreeMaster of Scienceen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelmastersen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.disciplineMechanical Engineeringen
dc.contributor.committeechairReinholtz, Charles F.en
dc.contributor.committeememberRobertshaw, Harry H.en
dc.contributor.committeememberMyklebust, Arviden
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-11142012-040254/en
dc.date.sdate2012-11-14en
dc.date.rdate2012-11-14en
dc.date.adate2012-11-14en


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