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Design and construction of a double-octahedral variable geometry truss manipulator
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.