Trussarm—A Variable-Geometry- Truss Manipulator

ABSTRACT: An overview is given of recent work done in Canada on "trussarms"—truss structures of high aspect ratio and variable geometry, suitable for use as manipulator arms. Four possible truss topologies are compared, and the "standard " octahedral topology is shown to be superior, largely on the basis of simplified hinge design. A preliminary com-parison is also made between the Canadarm (the current Shuttle manipulator arm) and two trussarms. Some of the key issues in the kinematics, dynamics and control of truss-arms are discussed, and the paper closes with a brief description of laboratory trussarm models currently under development