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Research Papers

Planar Deployable Linkage and Its Application in Overconstrained Lift Mechanism

[+] Author and Article Information
Dong-Jie Zhao

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: 981337643@qq.com

Jing-Shan Zhao

State Key Laboratory of Tribology,
Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: jingshanzhao@mail.tsinghua.edu.cn

Zheng-Fang Yan

Department of Mechanical Engineering,
Tsinghua University,
Beijing 100084, China
e-mail: colorsquare@163.com

1Corresponding author.

Manuscript received April 29, 2014; final manuscript received November 7, 2015; published online January 6, 2016. Assoc. Editor: Qiaode Jeffrey Ge.

J. Mechanisms Robotics 8(2), 021022 (Jan 06, 2016) (9 pages) Paper No: JMR-14-1098; doi: 10.1115/1.4032096 History: Received April 29, 2014; Revised November 07, 2015

This paper investigates the application of a planar deployable structure with screw theory and discusses its possible applications in overconstrained lift platforms via calculating its stiffness. These platforms are all made up of a number of identical scissor-form pivoted links. Compared with their traditional counterparts, the lift platforms with planar deployable structures have higher stiffness and higher strength in applications because every lift platform is multiplane overconstrained mechanism connected by a strengthened frame at each deployable layer. In operation, these deployable structures are always symmetric about the vertical central axis connecting the moving platform and the fixed one. Therefore, the stress conditions of the links in each layer can be assumed to be identical as the lift platform is moving up and down. Prototype test illustrates the innovation of the lift mechanisms while keeping the same load capacity.

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Figures

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Fig. 1

Scissor-form-element structure

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Fig. 2

Foldable structures

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Fig. 3

The first redundant constraint lift platform

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Fig. 4

A planar quadrilateral linkage

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Fig. 5

A triangular platform with three planar equilateral quadrangle chains

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Fig. 6

Two prismatic units of the lift platform

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Fig. 7

A third innovative lift platform

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Fig. 8

One prismatic unit of the lift platform

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Fig. 14

Different deformations of a branch

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Fig. 13

Different morphs connection modes

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Fig. 12

Different connection modes

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Fig. 11

Prototypes of the first two lift platforms

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Fig. 10

Generalized lift platform with different planar scissor-form pivoted links

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Fig. 9

Two prismatic units of the lift platform

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Fig. 17

Two prismatic units of the lift platform

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Fig. 19

Supporting mechanism on the chassis

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Fig. 15

A rectangle-frame lift platform

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Fig. 16

A square platform with four planar equilateral quadrangle chains

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