A novel construction method is proposed to construct multimode 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.
A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 15, 2018; final manuscript received December 20, 2018; published online February 22, 2019. Assoc. Editor: Pierre M. Larochelle.
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Wang, J., and Kong, X. (February 22, 2019). "A Novel Method for Constructing Multimode Deployable Polyhedron Mechanisms Using Symmetric Spatial Compositional Units." ASME. J. Mechanisms Robotics. April 2019; 11(2): 020907. https://doi.org/10.1115/1.4042458
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