Analytical model method for dynamics of N-celled tetrahedron–tetrahedron variable geometry truss manipulators

In this paper some fundamental formulae are derived for a tetrahedron-based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable in length. Analytical model for dynamics of the manipulator is established, and expressions in numeric–symbolic form of model matrices are derived. An example is given for illustration.