Design and construction of a four-bay variable-geometry-truss manipulator arm

grantor: University of TorontoThe purpose of this thesis was to design and construct a Variable-Geometry-Truss Manipulator (VGTM), known as Trussarm Mark II, based upon Trussarm Mark I, the VGTM built at the University of Toronto Institute for Aerospace Studies (UTIAS). VGTM's have been the focus of robotic research as the design promises to provide a large stiffness for a relatively small mass. Stacking multiple VGTM's produces a multibay VGTM, a structure with high redundancy and long reach. To date most VGTM designs have remained in the world of the computer, with assumptions being made about exact geometry, mass, and joint play. The construction of a new four-bay trussarm worked as a design exercise for the multibay VGTM concept. Trussarm Mark II represents a major step forward in the development of the VGTM concept as lessons learned in its construction and testing bring us one step closer to a working productive robot.M.A.Sc