Shape–controlled adaptable buildings constitute a major excursion from traditional architectural approaches with a potential for superior performance and enhanced flexibility compared to traditional fixed–shape building structures. A building concept is examined whose skeleton structure consists of a parallel arrangement of planar closed–loop n–bar linkages and it is covered with a flexible material. Shape adjustments involve coordinated reconfigurations of the constituent closed–chain mechanisms. Each individual linkage is equipped with one motion actuator as well as brakes installed on every joint. For the reconfigurations an “effective 4–bar” concept has been proposed that involves stepwise adjustments. Each step involves the selective locking of (n – 4) joints of each linkage so that it is effectively reduced to a single–DOF 4–bar mechanism the configuration of which can be adjusted using the available motion actuator. Appropriately planned control sequences can be used for a complete reconfiguration of the linkage. Motion planning is concerned with the generation of optimal control sequences while taking into account imposed limitations arising from the moving structure as well as the flexible envelop. This paper is a continuation of a prior work paying special attention to the envelop design. Simulation examples as well as an experimental study are used to demonstrate the feasibility of the concept and investigate relevant issues.

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