Title page for ETD etd-11142012-040254

Type of Document Master's Thesis
Author Gokhale, Dipen P.
URN etd-11142012-040254
Title Kinematic analysis and animation of a variable geometry truss robot
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Reinholtz, Charles F. Committee Chair
Myklebust, Arvid Committee Member
Robertshaw, Harry H. Committee Member
  • Manipulators (Mechanism)
Date of Defense 1987-12-03
Availability restricted

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.

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