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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