Citation
Lj. Xu et al., Analytical model method for dynamics of N-celled tetrahedron-tetrahedron variable geometry truss manipulators, MECH MACH T, 36(11-12), 2001, pp. 1271-1279
Citations number
11
Categorie Soggetti
Mechanical Engineering
Journal title
MECHANISM AND MACHINE THEORY
ISSN journal
0094114X
→ ACNP
Volume
36
Issue
11-12
Year of publication
2001
Pages
1271 - 1279
Database
ISI
SICI code
0094-114X(200111/12)36:11-12<1271:AMMFDO>2.0.ZU;2-
Abstract
In this paper some fundamental formulae are derived for a tetrahedron-based
variable geometry truss manipulator which is composed of a series of tetra
hedrons stacked upon each other such that one link in each cell is made var
iable in length. Analytical model for dynamics of the manipulator is establ
ished, and expressions in numeric-symbolic form of model matrices are deriv
ed. An example is given for illustration. (C) 2001 Elsevier Science Ltd. Al
l rights reserved.