Enumeration and Analysis of Variable Geometry Truss Manipulators

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dc.contributor.authorReinholtz, V. Arunen
dc.contributor.authorWatson, Layne T.en
dc.contributor.departmentComputer Scienceen
dc.date.accessioned2013-06-19T14:37:12Zen
dc.date.available2013-06-19T14:37:12Zen
dc.date.issued1990en
dc.description.abstractThe variable-geometry truss or VGT, is a generalization of Stewart's most basic platform manipulator concept. In this paper, all possible basic forms of the truss-type manipulator are enumerated. These basic forms, or unit cells, are shown to be building blocks from which all truss-type manipulators are formed. Several manipulator concepts based on the unit cell construction are then presented as examples, including a new potentially superior form of Stewart's Platform. Finally, a general method for the forward kinematic analysis of VGT unit cells is described.en
dc.format.mimetypeapplication/pdfen
dc.identifierhttp://eprints.cs.vt.edu/archive/00000192/en
dc.identifier.sourceurlhttp://eprints.cs.vt.edu/archive/00000192/01/TR-90-10.pdfen
dc.identifier.trnumberTR-90-10en
dc.identifier.urihttp://hdl.handle.net/10919/19608en
dc.language.isoenen
dc.publisherDepartment of Computer Science, Virginia Polytechnic Institute & State Universityen
dc.relation.ispartofHistorical Collection(Till Dec 2001)en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.titleEnumeration and Analysis of Variable Geometry Truss Manipulatorsen
dc.typeTechnical reporten
dc.type.dcmitypeTexten

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