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Technical Brief

A New Family of Bricard-Derived Deployable Mechanisms

[+] Author and Article Information
Hailin Huang

State Key Laboratory of Robotics and System (HIT),
Harbin 150001, China;
Shenzhen Graduate School,
Harbin Institute of Technology,
HIT Campus Xili University Town,
Shenzhen 518055, China
e-mail: dwenhcil@gmail.com

Bing Li

State Key Laboratory of Robotics and System (HIT),
Harbin 150001, China;
Shenzhen Graduate School,
Harbin Institute of Technology,
HIT Campus Xili University Town,
Shenzhen 518055, China
e-mail: libing.sgs@hit.edu.cn

Jianyang Zhu

School of Machinery and Automation,
Wuhan University of Science and Technology,
Wuhan 430081, China
e-mail: zhujianyang02@163.com

Xiaozhi Qi

Shenzhen Graduate School,
Harbin Institute of Technology,
HIT Campus Xili University Town,
Shenzhen 518055, China
e-mail: ixiaozhiq@163.com

1Corresponding author.

Manuscript received June 21, 2015; final manuscript received November 19, 2015; published online March 7, 2016. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 8(3), 034503 (Mar 07, 2016) (7 pages) Paper No: JMR-15-1151; doi: 10.1115/1.4032119 History: Received June 21, 2015; Revised November 19, 2015

This paper proposes a new family of single degree of freedom (DOF) deployable mechanisms derived from the threefold-symmetric deployable Bricard mechanism. The mobility and geometry of original threefold-symmetric deployable Bricard mechanism is first described, from the mobility characterstic of this mechanism, we show that three alternate revolute joints can be replaced by a class of single DOF deployable mechanisms without changing the single mobility characteristic of the resultant mechanisms, therefore leading to a new family of Bricard-derived deployable mechanisms. The computer-aided design (CAD) models are used to demonstrate these derived novel mechanisms. All these mechanisms can be used as the basic modules for constructing large volume deployable mechanisms.

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References

Figures

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Fig. 1

Threefold-symmetric Bricard mechanism

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Fig. 2

CAD model of deployable Bricard mechanism: (a) deployed configuration, (b) general configuration, and (c) folded configuration

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Fig. 3

Bricard-derived mechanisms from the spatial deployable mechanisms

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Fig. 4

Geometry of the deployable Bennett mechanism

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Fig. 5

Geometry of the Bennett-derived mechanisms: (a) Bennett-derived 6R mechanism and (b) Bennett-derived 3R1S mechanism

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Fig. 6

Geometry of deployable Myard mechanism and it derived mechanisms: (a) Myard mechanism, (b) Myard-derived 7R mechanism, and (c) Myard-derived 4R1S mechanism

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Fig. 7

Geometry of plane-symmetric Bricard mechanism

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Fig. 8

Planar single DOF deployable mechanisms with two closed loops: (a) two 4R mechanisms, (b) two 3R1P mechanisms, (c) two 3R1P mechanisms, and (d) two 3R1P mechanisms

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Fig. 9

Bricard-derived mechanisms from the planar deployable mechanisms

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Fig. 10

Top view of the three folded configuration Bennett mechanisms

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Fig. 11

CAD model of the deployable mechanism constructed from three Bennett deployable mechanisms: (a) deployed configuration, (b) general configuration, and (c) folded configuration

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Fig. 12

Top view of the three folded configuration 2-4R mechanisms

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Fig. 13

CAD model of the deployable mechanism constructed from three planar deployable mechanisms: (a) deployed configuration and (b) folded configuration

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