Abstract: A variety of applications for variable-geometry truss manipulators (VGTMs) have been demonstrated or proposed in the literature. Most of these applications require solution to the inverse kinematic ...

Abstract: A theory is proposed for algebraically determining the limit positions of single-degree-of-freedom mechanisms. The absence of limit positions indicates that the link being considered is a fully ...

Abstract: A VGT, or Variable Geometry Truss, can be thought of as a statically determinate truss that has been modified to contain some number of variable length members. These extensible members allow ...

Abstract: This paper describes a technique for synthesizing a force-generating mechanism composed of a cam wrapped by a belt or chain. Such mechanisms will hereafter be referred to as “wrapping cams.” ...