Efficient Workspace Generation of a Modular Variable-Geometry-Truss Manipulator Available to Purchase

In this paper, we present an efficient method for the generation of the workspace of a modular variable-geometry-truss (VGT) manipulator, called Trussarm, using common graphical tools of computer-aided-design (CAD) and other software packages. Our proposed approach is based on a graphical convolution on the workspaces of the manipulator modules. The algorithm generates the workspace in linear time with respect to the number of modules, as opposed to the exponential time required by the brute force approach. We illustrate the application of the proposed method on the existing twelve-degree-of-freedom (12-DOF) prototype of Trussarm. However, this method is general and can be applied to other VGT and modular manipulators.