An articulating bed incorporates a support frame with a head end, a foot end and having side frame members. A carriage having a seat support is carried by the frame, mounted with wheels engaging the side frame members to translate from a first position through a range progressing toward the head end to a fully translated position. An upper body support is rotatably connected to the carriage and carries a mattress support. At least one telescoping rotation strut is attached at a first end and rotates through an axle pivotally attached to the side frame members. The telescoping rotation strut engages at a second end the upper body support. At least one fixed length rotation arm is carried at a first end by a rotating tube and pivotally attaches to the upper body support at a second end. The rotating tube is mounted on wheels constrained in a track and translates laterally in the track to contact a track end proximate the head end of the frame at a termination of a first range of motion. The telescoping strut approaches a vertical orientation and transfers reaction forces resulting from translation of the carriage to the fixed length rotation arm, whereupon the telescoping rotations struts extend.
