Masters Theses

Title

Follow the leader motion strategy in double-octahedral parallel trusses

Author

Ira Dunn

Keywords and Phrases

Follow the Leader strategy

Abstract

"Variable Geometry Truss robot manipulators (VGTs) using parallel structure show many characteristics superior to serially-connected manipulators, including low weight, high structural strength, and a high number of degrees of freedom. The characteristics of one particular VGT, the Double-Octahedral Parallel Module (DOPM), allow the truss structure to move and compress with degrees of freedom, while maintaining a "hollow" geometry and low weight. This thesis describes a new motion method for the DOPM-VGT, called Follow the Leader, in which many serially-connected VGT modules move single file in a path to reach a goal trajectory."--Abstract, page iii.

Department(s)

Engineering Management and Systems Engineering

Degree Name

M.S. in Engineering Management

Publisher

University of Missouri--Rolla

Publication Date

Fall 2003

Pagination

x, 63 leaves

Note about bibliography

Includes bibliographical references (leaves 102-107).

Rights

© 2003 Ira James Dunn, All rights reserved.

Document Type

Thesis - Citation

File Type

text

Language

English

Library of Congress Subject Headings

Robots, Industrial -- Design and construction
Manipulators (Mechanism)

Thesis Number

T 8460

Print OCLC #

55496458

Link to Catalog Record

Full-text not available: Request this publication directly from Missouri S&T Library or contact your local library.

http://laurel.lso.missouri.edu/record=b5090669~S5

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