A novel method for constructing multi-mode deployable polyhedron mechanisms using symmetric spatial RRR compositional units

Jieyu Wang, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A novel construction method is proposed to construct multi-mode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third revolute (R) joints are perpendicular to the axis of the second R joint. Single-loop deployable linkages are first constructed using RRR units and are further assembled into polyhedron mechanisms by connecting single-loop kinematic chains using RRR units. The proposed mechanisms are over-constrained and can be deployed through two approaches. The prism mechanism constructed using two Bricard linkages and six RRR limbs has one degree-of-freedom (DOF). When removing three of the RRR limbs, the mechanism obtains one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms are variable-DOF mechanisms. The DPMs can switch among different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms.

Original languageEnglish
Title of host publicationASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Volume5A
ISBN (Electronic)9780791851807
DOIs
Publication statusPublished - 2018
Event42nd Mechanisms and Robotics Conference 2018 - Quebec City, Canada
Duration: 26 Aug 201829 Aug 2018

Conference

Conference42nd Mechanisms and Robotics Conference 2018
CountryCanada
CityQuebec City
Period26/08/1829/08/18

Keywords

  • Bricard linkage
  • Compositional unit
  • Deployable mechanisms
  • Multi-mode mechanism
  • Variable-DOF mechanism

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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