Revised Kinematics of Rope–Bar Variable Geometry Truss Manipulator

  • Chuanyang Li
  • Huiyin Yan
  • Hongwei GuoEmail author
  • Dewei TangEmail author
  • Rongqiang Liu
  • Zongquan Deng
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a design of rope–bar variable geometry truss manipulator, which consists of two models. Then, the revised kinematics with the n-module manipulator is analyzed. Based on the revised kinematic model, the workspace of a manipulator is solved. These results could be potentially applied to the engineering application.


Rope–Bar VGTM Revised kinematics Workspace Variable section parameter 


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This work is financially supported by the Joint Funds of the National Natural Science Foundation of China (grant number U1613201).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinChina

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