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Research Papers

Synthesis of Deployable/Foldable Single Loop Mechanisms With Revolute Joints

[+] Author and Article Information
Zongquan Deng

School of Mechatronics Engineering,  Harbin Institute of Technology, Harbin 150001, P. R. China e-mail: denzq@hit.edu.cn

Hailin Huang

School of Mechatronics Engineering,  Harbin Institute of Technology, Harbin 150001, P. R. China e-mail: denzq@hit.edu.cnhuanghl@hitsz.edu.cn

Bing Li1

Shenzhen Graduate School,  Harbin Institute of Technology, Shenzhen 518055, P. R. Chinalibing.sgs@hit.edu.cnSchool of Mechatronics Engineering,  Harbin Institute of Technology, Harbin 150001, P. R. China e-mail: liurq@hit.edu.cnlibing.sgs@hit.edu.cn

Rongqiang Liu

Shenzhen Graduate School,  Harbin Institute of Technology, Shenzhen 518055, P. R. ChinaSchool of Mechatronics Engineering,  Harbin Institute of Technology, Harbin 150001, P. R. China e-mail: liurq@hit.edu.cn

1

1 Corresponding author.

J. Mechanisms Robotics 3(3), 031006 (Aug 10, 2011) (12 pages) doi:10.1115/1.4004029 History: Received August 16, 2010; Revised March 23, 2011; Published August 10, 2011; Online August 10, 2011

This paper presents a geometric approach for design and synthesis of deployable/foldable single loop mechanisms with pure revolute joints. The basic kinematic chains with symmetric mobility are first synthesized, and an intuitive geometric method is proposed for the mobility analysis of these kinematic chains. The deployable/foldable single loop mechanisms can be regarded as a combination of the basic kinematic chains with nontrivial mobility intersection, under this approach, the 5R to 8R single loop mechanisms with symmetric mobility are synthesized systematically. The method for determining the positions of the joint axes on polyhedral links is also proposed, so that the mechanism can be fully deployed or fully folded without suffering from physical interference. Under this framework, a class of novel deployable/foldable single loop mechanisms is developed. The computer-aided design models for typical examples are built to illustrate their feasibility.

Copyright © 2011 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Parameters of a physical link dyad for DSLRJMs

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Figure 23

Different configurations of 8R DSLRJM

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Figure 24

8R DSLRJM with “+” shape deployed profile

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Figure 25

Deployed and folded profiles for 8R mechanism

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Figure 26

CAD models for different configurations of 8R mechanism

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Figure 4

Deployed profiles for 6R DSLRJMs

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Figure 3

Two kinds of symmetric folding mobility

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Figure 2

Deployed and folded profiles of Bennett linkage

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Figure 22

Deployed and folded profiles of 8R DSLRJM

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Figure 21

6R DSLRJMs with different deployed profiles

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Figure 20

6R DSLRJMs with different folded profiles

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Figure 19

6R DSLRJM with rectangular deployed profile

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Figure 18

Deployed and folded profiles of 6R DSLRJM

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Figure 17

6R DSLRJM with “Y” shape deployed profile

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Figure 16

CAD models of deployable/foldable 6R mechanism

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Figure 15

Deployed and folded profiles of 6R mechanism

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Figure 14

CAD models for two 7R DSLRJMs

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Figure 13

CAD models for 5R DSLRJM

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Figure 12

Geometry of joint axes for 5R DSLRJM

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Figure 11

8R DSLRJMs with symmetric continuous mobility

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Figure 10

7R DSLRJMs with symmetric continuous mobility

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Figure 9

6R DSLRJMs with symmetric continuous mobility

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Figure 8

5R DSLRJMs with symmetric continuous mobility

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Figure 7

Nine basic kinematic chains with symmetric mobility

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Figure 6

Deployed profiles for 5R and 7R DSLRJMs

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Figure 5

Deployed profiles for 8R DSLRJMs

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