SME MS94-194

A NEW CLASS OF 3 DOF VARIABLE GEOMETRY TRUSS MANIPULATORS IS PROPOSED. THE MANIPULATOR IS COMPOSED OF AN OCTAHEDRON AND THREE TETRAHEDRONS CONNECTED IN A PARALLEL FORM AND DESIGNED TO BE COLLAPSIBLE AND SYMMETRICAL. A METHOD FOR THE DISPLACEMENT ANALYSIS OF THE MANIPULATORS IS ALSO PRESENTED. THE CLOSED-FORM SOLUTIONS FOR THE FORWARD AND INVERSE DISPLACEMENT ANALYSIS CAN BE OBTAINED BY EXPLICIT EXPRESSIONS. THEREFORE, THE METHOD PRODUCES ACCURATE SOLUTIONS WITH MINIMAL COMPUTATION.

Product Details

Published:

06/01/1994

Number of Pages:

6

File Size:

1 file , 490 KB