Dynamics and control of variable geometry truss manipulator

作     者：Xiaofeng LIU Qishuai WANG Haiquan LI Guoping CAI Xiaofeng LIU Qishuai WANG Haiquan LI Guoping CAI

作者机构：Department of Engineering Mechanics State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai 200240 China 

出 版 物：《Applied Mathematics and Mechanics(English Edition)》 (应用数学和力学（英文版）)

年 卷 期：2017年第38卷第2期

页      面：243-262页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Project supported by the National Natural Science Foundation of China(Nos.11132001,11272202,and 11472171) the Key Scientific Project of Shanghai Municipal Education Commission(No.14ZZ021) the Natural Science Foundation of Shanghai(No.14ZR1421000) 

主　　题：variable geometry truss manipulator (VGTM) double-octahedral truss unit,3-revolute-prismatic-spherical (3-RPS) parallel manipulator dynamic modeling activecontrol 

摘      要：Variable geometry truss manipulator （VGTM） has potential to work in the future space applications, of which a dynamic model is important to dynamic analysis and control of the system. In this paper, an approach is presented to model the dynamic equations of a VGTM by independent variables, which consists of two double-octahedral truss units and a 3-revolute-prismatic-spherical （3-RPS） parallel manipulator. In this ap- proach, the kinematic recursive relations of two adjacent bodies and geometric constrains are used to deduce the kinematic equations of the VGTM, and Jourdain＇s velocity varia- tion principle is adopted to establish the dynamic equations of the system. The validity of the proposed dynamic model is verified by comparison of numerical simulations with the software ADAMS. Besides, an active controller for trajectory tracking of the system is designed by the computed torque method. The effectiveness of the controller is numer- ically proved.