Reinholtz, V. ArunWatson, Layne T.2013-06-192013-06-191990http://hdl.handle.net/10919/19608The 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.application/pdfenIn CopyrightTechnical reportTR-90-10http://eprints.cs.vt.edu/archive/00000192/01/TR-90-10.pdf