This paper presents the design methodology for a single-mobility, large surface-deployable mechanism using irregularly shaped triangular prismoid units. First, we demonstrate that the spherical shell, as the deployed profile of the large deployable mechanism, cannot be filled with identical regular-shaped triangular prismoids (truncated pyramid) without gaps, which makes the design challenging because a large set of nonidentical modules should be moved synchronously. Second, we discuss the design of a novel deployable mechanism that can be deployed onto irregularly shaped triangular prismoids, which will be used as the basic module to fill the spherical shell. Owing to high stiffness and ease of actuation, a planar scissor-shape deployable mechanism is applied. Third, we study the mobile assemblies of irregularly shaped modules in large surface-deployable mechanisms. We discover that hyper kinematic redundant constraints exist in a multiloop mechanism, making the design even more difficult. In order to address this issue, a methodology for reducing these redundant constraints is also discussed. Finally, a physical prototype is fabricated to demonstrate the feasibility of the proposed design methodology.
Design of Large Single-Mobility Surface-Deployable Mechanism Using Irregularly Shaped Triangular Prismoid Modules
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 19, 2018; final manuscript received August 3, 2018; published online October 10, 2018. Assoc. Editor: Dar-Zen Chen.
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Huang, H., Li, B., Zhang, T., Zhang, Z., Qi, X., and Hu, Y. (October 10, 2018). "Design of Large Single-Mobility Surface-Deployable Mechanism Using Irregularly Shaped Triangular Prismoid Modules." ASME. J. Mech. Des. January 2019; 141(1): 012301. https://doi.org/10.1115/1.4041178
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