Research Papers

Synthesis and Design of a One Degree-of-Freedom Planar Deployable Mechanism With a Large Expansion Ratio

[+] Author and Article Information
David St-Onge

Département de génie mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: david.st-onge.2@ulaval.ca

Clément Gosselin

Département de génie mécanique,
Université Laval,
Québec, QC G1V 0A6, Canada
e-mail: gosselin@gmc.ulaval.ca

1Corresponding author.

Manuscript received June 25, 2015; final manuscript received November 9, 2015; published online January 18, 2016. Assoc. Editor: Jian S. Dai.

J. Mechanisms Robotics 8(2), 021025 (Jan 18, 2016) (9 pages) Paper No: JMR-15-1156; doi: 10.1115/1.4032101 History: Received June 25, 2015; Revised November 09, 2015

This paper presents a new design of a deployable one degree-of-freedom (DOF) mechanism. Polygonal rigid-link designs are first investigated. Then, belt-driven links are considered in order to maximize the expansion ratio while avoiding flattened ill-conditioned parallelogram configurations. The planar basic shape of the proposed design is a triangle. Hence, virtually any planar or spatial surface can be created by assembling such faces. For architecture and telescopic applications, the cupola assembly is investigated. The advantages of this approach are discussed, and the scalability is demonstrated. Finally, a prototype is built for illustration purposes.

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Fig. 1

Deployment of an icosahedron with articulated faces (from Ref. [14])

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Fig. 2

Schematic representation of a triangular face from Ref.[14]

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Fig. 3

Schematic representation of a deployable leg with large expansion ratio and compact design

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Fig. 4

Retracted triangular 1DOF deployable mechanism: (a) one stage per leg from Ref. [14] and (b) three stages per leg optimized

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Fig. 5

Velocity transmission ratio for all deployment positions for the schematic of Fig. 3 and the geometry of Fig. 4(b)

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Fig. 6

Transmission angles and kinematic loops. The parallelogram included in the actuation module is not highlighted.

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Fig. 8

Transmission angles throughout a complete deployment

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Fig. 9

Equivalence between the belt-driven and the rigid-link mechanisms

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Fig. 10

Belt-driven mechanism (belts are represented with dotted lines)

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Fig. 11

Virtual triangle limits: (a) correct and (b) incorrect (assuming a spatial arrangement of neighboring triangles)

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Fig. 12

Geometric representation of the retracted radial lengthHR (a) and the deployed radial length HD (b) defined in Eqs. (11) and (12)

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Fig. 13

Expansion ratio as a function of the number of stages for hT=90 mm and w=17 mm

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Fig. 14

Expansion ratio as a function of the link thickness for n=5 and ht=90 mm

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Fig. 15

Expansion ratio as a function of the radial length of the inner triangle for w=17 mm and n=5

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Fig. 16

Expansion ratio RP as a function of the length of the first link l1 for different values of the number of links n with a link width of 60 mm. Drop to zero occurs when the mechanism cannot fit in its retracted allowed space for further increase ofli.

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Fig. 19

Dual-phase rotary joint: (a) initial state, (b) about to release the first axis, (c) held together with magnet, and (d) second rotation axis




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