A Method on Inverse Kinematics of Variable Geometry Truss.

A method on the inverse kinematics of variable geometry truss (VGT) is proposed in this paper for the assembling of the space station modules. This method is based on an equivalent manipulator model and the diffusion process of the workspace density function. Firstly transfer each order of the VGT into the equivalent manipulator model and calculate its workspace density function. In the base module frame, every workspace density function is the diffusion process of all its preceding ones. Then a group of manipulator variables could be got by searching for those maximizing the workspace density function value at the desire position. The variable links of the VGT could be calculated by transferring the manipulator variables back. This method has a higher efficiency than the b ru te searching. The numerical simulations have demonstrated the effectiveness of the approach proposed. [ABSTRACT FROM AUTHOR]