Single-loop foldable 8R mechanisms with multiple modes

Jieyu Wang, Guochao Bai, Xianwen Kong*

*Corresponding author for this work

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

14 Citations (Scopus)


This paper deals with single-loop foldable 8R (revolute joint) mechanisms with multiple modes, which can be folded into either the same folded state in different ways or different folded states. Two types of mechanisms are discussed. The first type is constructed by integrating two spherical 4R linkages, and the second type is built by combining one spherical 4R linkage with one planar 4R linkage. Variations of the second type are presented for improving the foldability of the mechanisms. The multiple-mode mechanisms are featured by the motion modes of spherical and planar 4R linkage as well as the motion mode of spatial 8R linkage. These mechanisms can be easily fabricated since all the links of the mechanism can be spread on a plane or several parallel planes to which all the joint axes of the R joints are either parallel or perpendicular.

Original languageEnglish
Title of host publicationNew Trends in Mechanism and Machine Science
Subtitle of host publication Theory and Industrial Applications
EditorsPhilippe Wenger, Paulo Flores
PublisherKluwer Academic Publishers
Number of pages8
ISBN (Print)9783319441559
Publication statusPublished - 2017
Event6th International Conference on Mechanism Science and machine Theory 2016 - Nantes, France
Duration: 20 Sept 201623 Oct 2016

Publication series

NameMechanisms and Machine Science
PublisherSpringer International Publishing
ISSN (Print)2211-0984


Conference6th International Conference on Mechanism Science and machine Theory 2016
Abbreviated titleEUCOMES 2016


  • 8R linkage
  • Foldable mechanism
  • Multiple modes
  • Planar 4R linkage
  • Spherical 4R linkage

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering


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