A NEW CLASS OF 3 DOF VARIABLE GEOMETRY TRUSS MANIPULATORS IS PROPOSED. THE MANIPULATOR IS COMPOSED OF AN OCTAHEDRON AND THREE TETRAHEDRONS CONNECTED IN A PARALLEL FORM AND DESIGNED TO BE COLLAPSIBLE AND SYMMETRICAL. A METHOD FOR THE DISPLACEMENT ANALYSIS OF THE MANIPULATORS IS ALSO PRESENTED. THE CLOSED-FORM SOLUTIONS FOR THE FORWARD AND INVERSE DISPLACEMENT ANALYSIS CAN BE OBTAINED BY EXPLICIT EXPRESSIONS. THEREFORE, THE METHOD PRODUCES ACCURATE SOLUTIONS WITH MINIMAL COMPUTATION.
| Number of Pages : | 6 |
| Published : | 06/01/1994 |
