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