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Research Papers

A New Family of Deployable Mechanisms Derived From Two-Layer and Two-Loop Spatial Linkages With Five Revolute Pair Coupling Chains

[+] Author and Article Information
Wen-ao Cao

School of Mechanical Engineering and
Electronic Information,
China University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: cwao1986@163.com

Donghao Yang

School of Mechanical Engineering and
Electronic Information,
China University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: yangdh9311@163.com

Huafeng Ding

School of Mechanical Engineering and
Electronic Information,
China University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: dhf@ysu.edu.cn

1Corresponding author.

Manuscript received December 19, 2016; final manuscript received September 21, 2017; published online October 20, 2017. Assoc. Editor: Shaoping Bai.

J. Mechanisms Robotics 9(6), 061016 (Oct 20, 2017) (11 pages) Paper No: JMR-16-1381; doi: 10.1115/1.4038065 History: Received December 19, 2016; Revised September 21, 2017

This paper aims to construct a novel family of deployable mechanisms from a class of two-layer and two-loop spatial linkages, each of which consists of an eight revolute pair (8R) single-loop linkage connected by a 5R serial chain. First, structural characteristics of the class of linkages as deployable units are analyzed and illustrated. Then, the two-layer and two-loop spatial linkages with 5R chains satisfying the structural characteristics are systematically synthesized. Mobile assembly modes between deployable units are established based on degree-of-freedom (DOF) analysis. Finally, a family of single DOF deployable mechanisms is constructed based on the synthesized deployable units and the established assembly modes. The derived deployable mechanisms have the characteristic of the umbrella-like structure, and they have various mesh shapes, which can meet different kinds of application requirements.

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Figures

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Fig. 1

Constitution of a two-layer and two-loop spatial linkage

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Fig. 2

Diagram of a two-layer and two-loop spatial linkage

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Fig. 3

Three kinds of structural types: (a) structural type 1, (b) structural type 2, and (c) structural type 3

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Fig. 4

Two deployable linkages: (a) a desirable unit and (b) an undesirable unit

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Fig. 5

Joint axis layout of a coupling chain

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Fig. 7

Deployable units with structural type 1: (a) unit 1, (b) unit 2, (c) unit 3, (d) unit 4, and (e) unit 5

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Fig. 8

Deployable units with structural type 2: (a) unit 6, (b) unit 7, (c) unit 8, (d) unit 9, and (e) unit 10

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Fig. 9

Deployable units with structural type 3: (a) unit 11, (b) unit 12, (c) unit 13, (d) unit 14, and (e) unit 15

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Fig. 10

Assembly of two units: (a) a unit, (b) another unit, (c) fixing assembly mode, (d) rotation assembly mode, and (e) chain assembly mode

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Fig. 11

Degree-of-freedom analysis of a deployable mechanism derived by n units: (a) diagram of the mechanism, (b) structural decomposition, and (c) DOF relations

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Fig. 12

Deployable mechanism derived from unit 1 based on the rotation assembly mode: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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Fig. 13

Deployable mechanism derived from unit 1 based on the chain assembly mode: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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Fig. 14

Four deployable mechanisms derived from units 2, 3, 4, and 5 based on the rotation assembly mode

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Fig. 15

Deployable mechanism derived from unit 6 based on the chain assembly mode: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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Fig. 16

Four deployable mechanisms derived from units 7, 8, 9, and 10 based on the chain assembly mode

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Fig. 17

Deployable mechanism derived from unit 11 based on the fixing assembly: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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Fig. 18

Deployable mechanism derived from unit 11 based on the chain assembly: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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Fig. 19

Four deployable mechanisms derived from units 12, 13, 14, and 15 based on the fixing assembly mode

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Fig. 20

Three kinds of configurations of the prototype: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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