A Network of Type III Bricard Linkages

[+] Author and Article Information
Shengnan Lu

Robotics Institute, Beihang University, Beijing, China 100191

Dimiter Zlatanov

PMAR Robotics, University of Genoa, Genoa, Italy 16145

Xilun Ding

Robotics Institute, Beihang University, Beijing, China 100191

Matteo Zoppi

PMAR Robotics, University of Genoa, Genoa, Italy 16145

Simon D. Guest

Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK

1Corresponding author.

ASME doi:10.1115/1.4041641 History: Received April 21, 2018; Revised September 26, 2018


Among Bricard's overconstrained 6R linkages, the third type has two collapsed configurations, where all joint axes are coplanar. The paper presents a one-degree-of-freedom network of such linkages. Using the two coplanar states of the constituent Bricard units, the network is able to cover a large surface with a specific outline when deployed; and can be folded compactly into a stack of much smaller planar shapes. Five geometric parameters describing each type III Bricard mechanism are introduced. Their influence on the outline of one collapsed configuration is discussed and inverse calculation to obtain the parameter values yielding a desired planar shape is performed. The network is built by linking the units, either using scissor linkage elements, if the thickness of the panels can be ignored, or with hinged parallelograms, for a thicker material. Two case studies, in which the Bricard network deploys as a rectangle and a regular hexagon, respectively, are presented, validating the analysis and design methods.

Copyright (c) 2018 by ASME
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