Fan Shouwen, Xu Liju, Gan Quan. Closed Form Solution to Workspace of Double-octahedron Variable Geometry Truss Robotic Manipulators[J]. Journal of University of Electronic Science and Technology of China, 2001, 30(2): 134-138.
Citation: Fan Shouwen, Xu Liju, Gan Quan. Closed Form Solution to Workspace of Double-octahedron Variable Geometry Truss Robotic Manipulators[J]. Journal of University of Electronic Science and Technology of China, 2001, 30(2): 134-138.
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Closed Form Solution to Workspace of Double-octahedron Variable Geometry Truss Robotic Manipulators

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  • Boundary surface analysis method for workspace of double-octahedron variable geometry truss robotic manipulators(VGTRM) is proposed in this paper. Based on surface analysis and analytical method of direct displacement analysis, the analytical surface equations of double-octahedron VGTRM are derived. Precise shape of double-octahedron VGTRM(s workspace boundary surface is drawn. Analysis and calculations show that the workspace of double-octahedron VGTRM is enveloped by six surface patchs.
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