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research-article

A novel method for constructing multi-mode deployable polyhedron mechanisms using symmetric spatial RRR compositional units

[+] Author and Article Information
Jieyu Wang

School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS UK
jw26@hw.ac.uk

Xianwen Kong

School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH14 4AS UK
x.kong@hw.ac.uk

1Corresponding author.

ASME doi:10.1115/1.4042458 History: Received October 15, 2018; Revised December 20, 2018

Abstract

A novel construction method is proposed to construct multi-mode deployable polyhedron mechanisms (DPMs) using symmetric spatial RRR compositional units, a serial kinematic chain in which the axes of the first and the third revolute (R) joints are perpendicular to the axis of the second R joint. Single-loop deployable linkages are first constructed using RRR units and are further assembled into polyhedron mechanisms by connecting the single-loop linkages using RRR units. The proposed mechanisms are over-constrained and can be deployed. The prism mechanism constructed using two Bricard linkages and six RRR chains has one degree-of-freedom (DOF). When removing three of the RRR chains, the mechanism obtains one additional 1-DOF motion mode. The DPMs based on 8R and 10R linkages also have multiple modes, and several mechanisms have variable-DOF. The DPMs can switch to different motion modes through transition positions. Prototypes are 3D-printed to verify the feasibility of the mechanisms.

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