Research Papers

Approximation of Cylindrical Surfaces With Deployable Bennett Networks

[+] Author and Article Information
Shengnan Lu

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: lvshengnan5@gmail.com

Dimiter Zlatanov

PMAR Robotics,
University of Genoa,
Genoa 16145, Italy
e-mail: zlatanov@dimec.unige.it

Xilun Ding

Robotics Institute,
Beihang University,
Beijing 100191, China
e-mail: xlding@buaa.edu.cn

Manuscript received October 17, 2016; final manuscript received January 10, 2017; published online March 9, 2017. Assoc. Editor: Venkat Krovi.

J. Mechanisms Robotics 9(2), 021001 (Mar 09, 2017) (6 pages) Paper No: JMR-16-1322; doi: 10.1115/1.4035801 History: Received October 17, 2016; Revised January 10, 2017

This paper presents a one-degree-of-freedom network of Bennett linkages which can be deployed to approximate a cylindrical surface. The geometry of the unit mechanism is parameterized and its position kinematics is solved. The influence of the geometric parameters on the deployed shape is examined. Further kinematic analysis isolates those Bennett geometries for which a cylindrical network can be constructed. The procedure for connecting the unit mechanisms in a deployable cylinder is described in detail and used to gain insight into, and formulate some general guidelines for, the design of linkage networks which unfold as curved surfaces. Case studies of deployable structures in the shape of circular and elliptical cylinders are presented. Modeling and simulation validate the proposed approach.

Copyright © 2017 by ASME
Topics: Linkages , Shapes
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Fig. 1

The Bennett linkage and its geometric description [22]

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Fig. 2

An alternative form of the Bennett linkage

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Fig. 3

The two perpendicular planes

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Fig. 4

Two bundle-folding realizations of the same Bennett

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Fig. 5

Description of two revolute axes on a rigid segment

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Fig. 6

Relationship among mechanism angles

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Fig. 7

Coordinate system of the Bennett linkage

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Fig. 8

Projection of the Bennett linkage on Oyz

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Fig. 9

Influence of γ on |M2M4|

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Fig. 10

Influence of δ on φ

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Fig. 11

Two Bennets connected by a scissor linkage

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Fig. 12

Tessellation of the Bennett network

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Fig. 13

Mesh of a cylindrical surface

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Fig. 14

Segmenting the circle to obtain Bennett dimensions

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Fig. 15

Kinematic simulation: deployment (a)–(c) of a circular half-cylinder

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Fig. 16

Segmentation of the ellipse

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Fig. 17

Kinematic simulation: deployment (a)–(d) of an elliptical half-cylinder




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