Abstract
Construction automation could benefit from long-reach, lightweight, dexterous, strong, and stiff manipulators constructed from active structures (variable geometry trusses). Unfortunately, the few systems actually built to date have not delivered these desired characteristics (two such systems are heavy, slow, not dexterous enough, and too flexible) due to lack of unified, integrated, optimized design. This article presents a first step for integrated kinematic, static, dynamic, and control constraints in structural optimization. Workspace area, end-link angle, extension ratio, dexterity, and static loading are all considered in comparisons of basic planar active structure modules which could be used as joints in 3D active structures for construction automation.
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