Computer Science Technical Reports
CS at VT

Enumeration and Analysis of Variable Geometry Truss Manipulators

Reinholtz, V. Arun and Watson, Layne T. (1990) Enumeration and Analysis of Variable Geometry Truss Manipulators. Technical Report TR-90-10, Computer Science, Virginia Polytechnic Institute and State University.

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The 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.

Item Type:Departmental Technical Report
Subjects:Computer Science > Historical Collection(Till Dec 2001)
ID Code:192
Deposited By:User autouser
Deposited On:05 December 2001