Abstract
dc:description.abstractIn 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.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Mechanical Engineering
- Department dc:contributor.department
- Mechanical Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 1987
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Gokhale, Dipen P.
- Chair dc:contributor.committeechair
-
- Reinholtz, Charles F.
- Committee members dc:contributor.committeemember
-
- Robertshaw, Harry H.
- Myklebust, Arvid
Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- etd-11142012-040254
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/45677