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Kinematics Of Pantograph Masts
| Content Provider | Indian Institute of Science (IISc) |
|---|---|
| Author | Nagaraj, B. P. Pandiyan, R. Ghosal, Ashitava |
| Copyright Year | 2009 |
| Abstract | This paper deals with the kinematics of pantograph masts. Pantograph masts have widespread use in space application as deployable structures. They are over constrained mechanisms with degree-of-freedom, evaluated by the Grèubler–Kutzback formula, as less than one. In this paper, a numerical algorithm is used to evaluate the degree-of-freedom of pantograph masts by obtaining the null space of a constraint Jacobian matrix. In the process redundant joints in the masts are obtained. A method based on symbolic computation, to obtain the closed-form kinematics equations of triangular and box shaped pantograph masts, is presented. In the process, the various configurations such masts can attain during deployment, are obtained. The closed-form solution also helps in identifying the redundant joints in the masts. The symbolic computations involving the Jacobian matrix also leads to a method to evaluate the global degree-of-freedom for these masts. |
| File Format | |
| Journal | PeerReviewed |
| Language | English |
| Publisher | Elsevier |
| Publisher Date | 2009-04-01 |
| Access Restriction | Authorized |
| Subject Keyword | Mechanical Engineering |
| Content Type | Text |
| Resource Type | Article |
