Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)
- Volume 20 Issue 9
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- Pages.2854-2865
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- 1996
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- 1226-4873(pISSN)
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- 2288-5226(eISSN)
DOI QR Code
Configuration Control of Vaiable-Geometry Truss Structures
가변형상 트러스구조물의 자세제어
- Roh, Tae-Hwan (SamSung ) ;
- Kim, Tae-Ik (Pohang University of Science and Technology) ;
-
Park, Hyun-Chul
(Dept. of Mechanical Engineering, Pohang University of Science and Technology)
;
- Kwon, Young-Doo (Dept.of Mechanical Engineering, Kyungpook National University)
- Published : 1996.09.01
Abstract
The concept of variable-geometry truss structure(VGTS) is introduced as a class of actively controlled adaptive structure. VGTS can purposefully vary its geometric configurations by changing the lengths of some members of the structure. General kinematics and inverse kinematics of a statically determinate VGTS(variable geometry truss structure) are studied. The solution technique is based on the Jacobian matrix obtained via joint equilibrium equations. Pseudoinverse control method is applied to resolve the redundancy of a large VGTS. two types of actuator layout of octahedral type VGTS, VG truss and Stewart platform, are compared. Introducing the concept of performance index, Stewart platform based layout was found to has less consumption energy and manipulation time. A functional VGTS model with 3 octahedral modules is designed and manufactured for the labaratory demonstration. Six vertically located length-variable members are used to create general 6 d.o.f. motions.
Keywords