Abstract
Presented in this paper is a method for the development of variable geometry truss manipulators (VGTMs) with enhanced static characteristics. The concept of statically redundant parallel robots is introduced and used to design the VGTM module through under-actuation. Under this design, each module is over-constrained, composed of both active and passive limbs. To enhance the stiffness, the passive limbs are designed using lockable prismatic joints. It is shown that through proper sequencing of the locking and unlocking of these passive limbs in correspondence to actuated motion, system rigidity can be maintained in the course of reconfiguration. In this paper, the proposed method is first explained using a planar system, then it is shown how to apply this method to the design of the variable geometry wing-box for an aircraft morphing wing.
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