抄録
A variable geometry truss (VGT) is a truss structural system having a number of length-adjustable members. It is one of the typical examples of so-called adaptive structure. We deal with a statically indeterminate VGT having shape memory alloy (SMA) wires for its length-adjustable actuators. On the basis of a piecewise linear model of SMA that takes account of the nonlinear and hysteretic characteristics, the forward kinematics is discussed in the form of static eqilibrium problem. The inverse kinematics is then dealt with as an inverse problem of the forward kinematics problem in terms of an introduced binary articulation variables vector. Computer simulations of the kinematic behavior of the SMA-wire actuated VGT are demonstrated; the feasibility of the proposed approach is confirmed.
