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 Keywords
- Manipulators (Mechanism)
Date of Defense 1987-12-03 Availability restricted Abstract
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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