In this paper some fundamental formulae are derived for tetrahedron-based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable on length. Analytical model for dynamics of the manipulator is established, and expressions in numeric-symbolic form of model matrices are derived. An example is given for illustration.

This content is only available via PDF.
You do not currently have access to this content.