A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units

Jieyu Wang, Xianwen Kong

Research output: Contribution to journalArticle

1 Citation (Scopus)
12 Downloads (Pure)

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 then assembled into polyhedron mechanisms by connecting the single-loop linkages using RRR units. The proposed mechanisms are over-constrained and can be deployed. The prism mechanism constructed using two Bricard linkages and six RRR chains has one degree-of-freedom (DOF). When removing three of the RRR chains, the mechanism will have one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms have variable-DOF. The DPMs can switch among different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms
Original languageEnglish
Article number020907
JournalJournal of Mechanisms and Robotics
Volume11
Issue number2
Early online date22 Feb 2019
DOIs
Publication statusPublished - Apr 2019

ASJC Scopus subject areas

  • Mechanical Engineering

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