A novel family of deployable mechanisms (DMs) is presented. Unlike most such devices, which have one degree-of-freedom (DOF), the proposed DM can be deployed and compacted independently in two or three directions. This widens the range of its potential applications, including flexible industrial fixtures and deployable tents. The mechanism's basic deployable unit (DU) is assembled by combining a scissor linkage and a Sarrus linkage. The kinematic properties of these two components and of the combined unit are analyzed. The conditions under which the unit can be maximally compacted and deployed are determined through singularity analysis. New 2DOF DMs are obtained by linking the DUs: each mechanism's shape can be modified in two directions. The relationship between the degree of overconstraint and the number of DUs is derived. The magnification ratio is calculated as a function of link thickness and the number of DUs. The idea of deployment in independent directions is then extended to three dimensions with a family of 3DOF mechanisms. Finally, kinematic simulations are performed to validate the proposed designs and analyses.
Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom
Beijing 100191, China;
University of Genoa,
Genoa 16145, Italy
Manuscript received February 2, 2015; final manuscript received September 8, 2015; published online November 24, 2015. Assoc. Editor: Andrew P. Murray.
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Lu, S., Zlatanov, D., Ding, X., Molfino, R., and Zoppi, M. (November 24, 2015). "Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021008. https://doi.org/10.1115/1.4031639
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