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Shape control of high degree-of-freedom variable geometry trussesCommon static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.
Document ID
19900000806
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Salerno, R. J. (Virginia Polytechnic Inst. and State Univ. Blacksburg, VA, United States)
Reinholtz, C. F. (Virginia Polytechnic Inst. and State Univ. Blacksburg, VA, United States)
Robertshaw, H. H. (Virginia Polytechnic Inst. and State Univ. Blacksburg, VA, United States)
Date Acquired
September 6, 2013
Publication Date
May 1, 1989
Publication Information
Publication: NASA. Langley Research Center, Proceedings of the Workshop on Computational Aspects in the Control of Flexible Systems, Part 2
Subject Category
Spacecraft Design, Testing And Performance
Accession Number
90N10122
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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