WIT Press


Optimum Posture Determination Of Variable Geometry Truss Structures By Optimality Criteria Method

Price

Free (open access)

Paper DOI

10.2495/OP010341

Volume

54

Pages

10

Published

2001

Size

951 kb

Author(s)

K. Yamazaki & J. Han

Abstract

Optimum posture determination of variable geometry truss structures by Optimality Criteria Method K. Yamazaki & J. Han Dept. of Human and Mechanical Systems Engineering, Kanazawa University, Japan Abstract This paper describes optimum posture determination of variable geometry truss structures by Optimality Criteria Method. A minimum compliance posture of vari- able geometry trusses for a given working load vector is realized by adjusting variable members, where the update control values are determined according to optimality criteria transformed from strain energy minimizing equation in advance. The validity of optimum posture determination by optimality criteria is confirmed numerically by applying it to the configuration control of a pair of variable geom- etry trusses containing ten adjustable members for cooperative operation. 1 Introduction In recent years, it is expected to use adaptive truss structures in universal opera- tions such as manipulators. The adaptive truss structure

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