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Reconfiguration solution of a variable topology truss: design and experiment

Title
Reconfiguration solution of a variable topology truss: design and experiment
Author
서태원
Keywords
Cellular and modular robots; mechanism design
Issue Date
2020-06
Publisher
IEEE
Citation
IEEE ROBOTICS AND AUTOMATION LETTERS, v. 5, no. 2, page. 1939-1945
Abstract
In this letter, an active ball joint actuator, called the master node, is developed for the purpose of reconfiguring truss structures. We propose a variable topology truss system, which is an advanced variable geometry truss system that can reconfigure its own topology to expand its functions. However, reconfiguration of a variable topology truss is difficult, because the controllability of trusses needs to be maintained during the process. We solve this problem by adding the master node to the system, which can move trusses without losing their controllability. The master node is designed and fabricated for a variable topology truss. The reconfiguration test using the master node is performed on a reduced prototype of the system. The results prove that using the master node for reconfiguration is viable.
URI
https://ieeexplore.ieee.org/document/8976111https://repository.hanyang.ac.kr/handle/20.500.11754/169008
ISSN
2377-3766
DOI
10.1109/LRA.2020.2970618
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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