Forward and Inverse Kinematic Solution of the Variable Geometry Truss Robot Based on an N-Celled Tetrahedron-Tetrahedron Truss

Abstract

The Tetrahedron-Tetrahedron truss (or TT truss for short) has exceptional stability, stiffness, and load-carrying capabilities. Because of this fact, the TT truss is well suited for use as a variable geometry truss manipulator (VGTM) by appropriately choosing certain links whose variable lengths can be controlled. Since the TT truss is composed of n-cells, its applications include the retrieval of equipment, bridges over and around obstacles, and applications which utilize collapsible programmable structures capable of relatively large displacements. In this paper an actuation scheme and the general solution to the forward and inverse kinematics problems for an n-celled TT truss are presented. Numerical examples are also presented.

Dynamic rolling locomotion and control of modular robots

“…The kinematics of VGTs have been studied by several researchers [10], [19], [20], [23]. Padmanabhan et al [20] presented the closed form solutions for the inverse kinematics problem of the octahedron-based variable geometry truss manipulators.…”

“…Padmanabhan et al [20] presented the closed form solutions for the inverse kinematics problem of the octahedron-based variable geometry truss manipulators. The forward and inverse kinematics problem of tetrahedron-based variable geometry truss manipulators were studied by Jain and Kramer [10] and Subramaniam and Kramer [23]. Naccarato and Hughes [19] presented an alternative inverse kinematics solution technique based on a spline-like reference curve which decreases the computation time for a manipulator with a large number of degrees of freedom such as the VGT.…”

A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability

“…A lot of interesting parallel mechanical systems with specified type and number of DoFs and mechanical design methods have been extensively studied since then. They have been applied to a diversity in the industrial world, e.g., aircraft simulators [2], adjustable articulated trusses [3], wrists [4], high-performance camera-orienting devices [5], industrial robots [6], force/torque sensors [7], micromanipulators [8,9], haptic devices [10], wire robots [11], mining machines [12], earthquake devices [13], and medical devices [14], especially recently developed potential application in machine tool and parallel kinematic machines [15]. Among these, the smart and simple design of Delta [16] has made it a success.…”

Hyper-redundant robot mechanisms and their applications

“…Hyper-redundant manipulators have previously been called 'swan's neck' (8], 'highly articulated' [13], and 'tentacle' [14] among a variety of other names. The term 'hyper-redundant,' coined by the authors in [3], is used to ·describe this broad class of robotic devices, such as those described in (1,(2)(3)(4)(5)(6)(7)10,11,17]. Because of their highly articulated nature, such robots may be used for inspection and operation in highly constrained environments [2,3].…”

“…Alternatively, these robots may consist of a truly flexible structure, such as pneumatically driven arms [16,17], as depicted in Figure 1(b). Variable geometry truss manipulators (or VGTMs) [11,13,15] are another possible morphology (Figure (1c )). Several other design concepts for hyper-redundant manipulators can be found in the literature [1,9,10].…”