A Shape-Morphing Mechanism with Sliding Panels

[+] Author and Article Information
Aaron Yu

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON M5B 2K3, Canada

Fengfeng (Jeff) Xi

Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON M5B 2K3, Canada

Amin Moosavian

Department of Aerospace Engineering, University of Michigan, 1320 Beal Avenue, Ann Arbor, MI 48109, USA

1Corresponding author.

ASME doi:10.1115/1.4036221 History: Received August 31, 2016; Revised March 03, 2017


This paper presents a new method for kinematic modeling and analysis of a six degree-of-free¬dom (DOF) parallel robot enclosed by a number of rigid sliding panels, called panel en¬closed mechanism. This type of robots has been seen in applications where mechanisms are covered by changeable surfaces, such as aircraft morphing wings made of variable ge-ometry truss manipulators. Based on the traditional parallel robot kinematics, the proposed method is developed to model the motions of a multiple segmented telescopic rigid panels that are attached via an extra link to the base and platform of a driving mechanism. Through this modeling and analysis, non-linear formulations are adopted to optimize orientations adjacent sliding panels during motion over the workspace of the mechanism. This method will help design a set of permissible panels used to enclose the mechanism free of collision. A number of cases are simulated to show the effectiveness of the proposed method. The effect of increased mobility is analyzed and validated as a potential solution to reduce panel collisions.

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