{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/74544"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/74544","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Design and construction of a double-octahedral variable geometry truss manipulator","abstract":"This thesis deals with the design and construction of a variable geometry truss (VGT) of the double-octahedral (pyramid-pyramid) geometry. The truss is expected to be the focus of several experimental research projects. In this thesis, a kinematic model is formulated, and the forward and inverse kinematic problems are solved. Issues of motor and instrumentation choices are addressed. Dimensional choices and the important problems of joint design are examined. A computer simulation is performed for force and vibration analysis. A fully collapsible double-octahedral variable geometry truss with three degrees of freedom was built using NC machining technologies. An improved second generation twenty-one degree-of-freedom truss will be built based on this original test article.","abstract_html":"This thesis deals with the design and construction of a variable geometry truss (VGT) of the double-octahedral (pyramid-pyramid) geometry. The truss is expected to be the focus of several experimental research projects. In this thesis, a kinematic model is formulated, and the forward and inverse kinematic problems are solved. Issues of motor and instrumentation choices are addressed. Dimensional choices and the important problems of joint design are examined. A computer simulation is performed for force and vibration analysis. A fully collapsible double-octahedral variable geometry truss with three degrees of freedom was built using NC machining technologies. An improved second generation twenty-one degree-of-freedom truss will be built based on this original test article.","abstract_has_math":false,"creators":["Tidwell, Paul H."],"institution":"Virginia Polytechnic Institute and State University","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1989,"date_issued":"1989","date_published":"1989","updated_at":"2026-07-22T22:20:21Z","subjects":[],"languages":["en"],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10919/74544","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Tidwell, Paul H."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2017-01-30T21:02:57Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2017-01-30T21:02:57Z"]},{"key":"dc:date.issued","label":"Date","values":["1989"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Polytechnic Institute and State University"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"dc:type.dcmitype","label":"Dc Type Dcmitype","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/74544"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis deals with the design and construction of a variable geometry truss (VGT) of the double-octahedral (pyramid-pyramid) geometry. 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