Statically indeterminate geometry adaptive truss with wire members

摘要

The paper discusses the geometry adaptive truss which consists of rigid truss members and a number of wire member actuators, referred to as the GAT-W. An important topic of such a mechanism is the influence of mechanical characteristic of the wire member actuator, that is, the lack of rigidity against any compressive force. The stability of GAT-W is studied and the topology as well as the placement of wire members are examined. An interesting task for the GAT-W is to keep an object not at a position, but in a region by utilizing the characteristic of the wire member. The calculation of the region is also discussed and an example region is demonstrated.