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Technical Brief

Design and Analysis of Reconfigurable Deployable Polyhedral Mechanisms With Straight Elements

[+] Author and Article Information
Ruiming Li

Robotics Institute,
Beihang University,
No. 37 Xueyuan Road, Haidian District,
Beijing 100083, China
e-mail: ruimingli@buaa.edu.cn

Xuemin Sun

School of Mechanical, Electronic and Control Engineering,
Beijing Jiaotong University,
No. 3 Shangyuancun, Haidian District,
Beijing 100044, China
e-mail: 15116344@bjtu.edu.cn

Yaqiong Chen

School of Mechanical, Electronic and Control Engineering,
Beijing Jiaotong University,
No.3 Shangyuancun, Haidian District,
Beijing 100044, China
e-mail: chenyaqiong@bjtu.edu.cn

Yan-an Yao

School of Mechanical, Electronic and Control Engineering,
Beijing Jiaotong University,
No. 3 Shangyuancun, Haidian District,
Beijing 100044, China
e-mail: yayao@bjtu.edu.cn

Xilun Ding

Robotics Institute,
Beihang University,
No. 37 Xueyuan Road, Haidian District,
Beijing 100083, China
e-mail: xlding@buaa.edu.cn

1Corresponding authors.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received January 21, 2019; final manuscript received April 2, 2019; published online May 17, 2019. Assoc. Editor: Ashitava Ghosal.

J. Mechanisms Robotics 11(4), 044502 (May 17, 2019) (8 pages) Paper No: JMR-19-1025; doi: 10.1115/1.4043601 History: Received January 21, 2019; Accepted April 11, 2019

This paper presents the construction method of a family of reconfigurable deployable polyhedral mechanisms (RDPMs) based on straight elements. First, reconfigurable straight element (RSE) is designed from two aspects: two prismatic-revolute-revolute-prismatic mechanisms aspect and reconfigurable angulated element aspect, and the kinematics and multifurcation of RSE are investigated. Then reconfigurable multiple straight elements (RMSEs) with n pairs of straight elements are proposed, RMSEs can reach two different transition configurations, the constraint conditions of RMSEs at transition configuration I and transition configuration II are analyzed with all link lengths identified. Finally, two typical polyhedra are used as a basis to construct RDPMs to verify the feasibility of the proposed construction method. A combination of half platforms and whole platforms for the first time is used in the construction of RDPMs, and the obtained mechanisms can switch between two kinds of conventional deployment configurations (the Hoberman sphere motion configuration and radially reciprocating motion configuration) and their compound configurations.

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Figures

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Fig. 1

Diagram of reconfigurable straight element: (a) two PRRP mechanisms, (b) reconfigurable straight element, and (c) reconfigurable angulated element

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Fig. 2

The curves of OA with respect to OC

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Fig. 3

Reconfigurable deployable tetrahedral mechanism

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Fig. 4

Prototype of the reconfigurable deployable tetrahedral mechanism

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Fig. 5

Reconfigurable multiple straight element with two RSEs: (a) HSM configuration and (b) transition configuration I

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Fig. 6

Transition configuration II

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Fig. 7

Reconfigurable multiple straight elements with n RSEs: (a) HSM configuration and (b) transition configuration I

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Fig. 8

Construction of the reconfigurable deployable triangular prismatic mechanism

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Fig. 9

Reconfigurable deployable triangular prismatic mechanism

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Fig. 10

Reconfigurable deployable truncated icosahedral mechanism

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