A multiple-mode mechanism composed of four antiparallelogram units and four revolute joints

Xuemin Sun, Ruiming Li, Zhiyuan Xun, Xianwen Kong, Yan-An Yao

Research output: Contribution to journalArticle

Abstract

This paper deals with the design and analysis of a multiple-mode subunit that can be used to construct reconfigurable/polyhedron deployable mechanisms. A new multiple-mode mechanism, which possesses five motion modes and can switch between these modes at different transition configurations, is designed for the first time by using four R (revolute) joints to connect four antiparallelogram units. First, the construction of the multiple-mode mechanism composed of four antiparallelogram units and four R joints is presented, the mechanism is simplified as a spatial single-loop 8R mechanism with variable link lengths. Second, the DOF (degree of freedom) and kinematic paths of two plane-symmetric modes are calculated through the screw theory and the closure equations, and then the configurations of plane-symmetric Mode I and Mode II are presented, after which the bifurcations of Mode I and Mode II are analyzed. Third, three plane-motion modes derived from three singular configurations of Mode I and Mode II are given, the transition between the five modes of mechanism is identified. Finally, a prototype of the multiple-mode mechanism is designed and fabricated to verify the feasibility of the construction method and the analysis of the modes.

Original languageEnglish
Article number104106
JournalMechanism and Machine Theory
Volume155
Early online date29 Sep 2020
DOIs
Publication statusE-pub ahead of print - 29 Sep 2020

Keywords

  • 8R
  • Antiparallelogram
  • Kinematic paths
  • Multiple-mode
  • Plane-symmetric

ASJC Scopus subject areas

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

Fingerprint Dive into the research topics of 'A multiple-mode mechanism composed of four antiparallelogram units and four revolute joints'. Together they form a unique fingerprint.

  • Cite this