In this paper the dynamic model of redundant tetrahedron based variable geometry truss manipulators are investigated based on fuzzy neural network. The dynamic model system is divided into three subsystems. The inertial matrix, centrifugal and Coriolis matrix, gravity matrix are trained respectively by using three fuzzy network models, and then the solutions to inverse dynamic model problem can be obtained. Finally, the simulation calculation of dynamics for a four celled tetrahedron-tetrahedron variable geometry truss manipulator is given for illustration.

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