Reconfiguration solution of a variable topology truss: design and experiment
- Authors
- Park, Eugene; Bae, Jangho; Park, Sumin; Kim, Jongwon; Yim, Mark; Seo, TaeWon
- Issue Date
- Apr-2020
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Cellular and modular robots; mechanism design
- Citation
- IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.2, pp.1939 - 1945
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE ROBOTICS AND AUTOMATION LETTERS
- Volume
- 5
- Number
- 2
- Start Page
- 1939
- End Page
- 1945
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/9869
- DOI
- 10.1109/LRA.2020.2970618
- ISSN
- 2377-3766
- 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.
- Files in This Item
-
Go to Link
- Appears in
Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/9869)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.