This paper presents a study of a new class of variable geometry truss manipulators, composed exclusively by linear actuators as truss elements. The paper starts by proposing and defining the new class and presenting some of their characteristics. Then their kinematics is solved, using their specification as a connected graph for the forward kinematics, and the Jacobian matrix for the inverse kinematics. These methods let the position control of several nodes or end effectors simultaneously. Kinematic singularities are presented and analyzed. A software library and a modular prototype that serves to assemble different manipulators were developed and are used to test and demonstrate this new class of manipulators.
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