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Kinematic Modeling of a Double Octahedral Variable Geometry Truss (Vgt) as an Extensible Gimbal
| AUTHOR | Nasa, National Aeronautics and Space Adm |
| PUBLISHER | Independently Published (10/27/2018) |
| PRODUCT TYPE | Paperback (Paperback) |
Description
This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool. Williams, Robert L., II Langley Research Center RTOP 233-03-03-02...
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Product Format
Product Details
ISBN-13:
9781729301890
ISBN-10:
1729301894
Binding:
Paperback or Softback (Trade Paperback (Us))
Content Language:
English
More Product Details
Page Count:
42
Carton Quantity:
97
Product Dimensions:
8.50 x 0.09 x 11.02 inches
Weight:
0.27 pound(s)
Country of Origin:
US
Subject Information
BISAC Categories
Science | Space Science - General
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This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool. Williams, Robert L., II Langley Research Center RTOP 233-03-03-02...
Show More