Reconfiguration solution of a variable topology truss: design and experiment

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.