A class of reconfigurable deployable platonic mechanisms

Li, Ruiming; Yao, Yi; Kong, Xianwen

doi:10.1016/j.mechmachtheory.2016.07.019

Cited by 49 publications

(11 citation statements)

References 11 publications

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“…Concerning the design and application research of pantograph mechanisms, Fang [6] proposed a new type of 4-DOF parallel robot mechanism with compact structure and large workspace by constructing the 6-DOF and 4-DOF rhombus kinematic limbs with large pantograph ratio. In order to develop a variety of multi-mode mobile mechanisms with the advantages of large deformation capacity, strong output, rapid response and flexible locomotion, Li [7][8][9] applied planar/spatial expandable mechanism as the extension ratio enlarging mechanism and hydraulic actuation as telescopic input. Briot [10] proposed a novel 4-DOF-decoupled parallel manipulator called the Pantopteron-4 which is made of three pantograph linkages, because of this architecture, having the same actuators for both robots, and the Pantopteron-4 displaces (theoretically) many times faster than the Isoglide-4 or the Quadrupteron.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of kinematic performance for a novel 2R1T parallel mechanism with pantograph units

Chen

2019

J Braz. Soc. Mech. Sci. Eng.

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A new type of 2R1T 3-P z P x S parallel mechanism is presented in this paper to satisfy the needs of configuration innovation for multi-axis machining platform. The limb configuration with a planar pantograph unit and the 3-P z P x S mechanism configuration are proposed and optimized. The analytical solutions of the forward and inverse position for the mechanism are derived, which are convenient to subsequent motion planning and control. After obtaining the workspace of the mechanism by the boundary search algorithm, the influence of key scale parameters on the rotation capacity of the mechanism in the whole workspace is investigated, and the reasonable ranges of the scale parameters required for large rotation capacity of the mechanism are confirmed. Furthermore, based on the Jacobian matrix condition number, the global performance indices of the angular velocity and the angular acceleration of 3-P z P x S parallel mechanism are defined, and ultimately the optimal ranges of the scale parameters are determined according to these two performance indices. The above results lay a theoretical foundation for the further development of high-efficiency hybrid NC machining center.

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Section: Introductionmentioning

confidence: 99%

Optimal design of kinematic performance for a novel 2R1T parallel mechanism with pantograph units

Chen

2019

J Braz. Soc. Mech. Sci. Eng.

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“…Feature of bundlefolding encourages the type III Bricard linkage to be used as the basic unit in several potential fields, such as a deployable roof of a transportable canopy, a supporting frame of a deployable antenna, or a large scale deployable grasping manipulator [18]. In addition, by using the kinematic bifurcation of the type III Bricard linkage [17], other potential applications like reconfigurable deployable mechanism can also be achieved [19,20].…”

Section: Introductionmentioning

confidence: 99%

Bundle folding type III Bricard linkages

Lyu

Zlatanov

Zoppi

et al. 2020

Mechanism and Machine Theory

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The paper presents a set of one-degree-of-freedom overconstrained linkages, which can be folded into a bundle and deployed into a polygon on a plane. The proposed mechanisms are movable Bricard octahedra of Type III, characterized by the existence of two configurations where all joints are coplanar. The possible geometries of doubly-collapsible Bricard linkages are parameterized and their kinematics is analyzed. A line-intersection method is proposed to construct a bundlefolding mechanism of this type. Necessary and sufficient conditions are derived for the deployedconfiguration polygon to be a square. Simulation and prototype experiment results validate the analysis and design.

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“…Wei and Dai [16] used the reciprocating motion of the PRRP chain to arrange a pentahedron and a cube and presented four over-constrained mechanisms with radially reciprocating motion. Li et al [17,18] proposed reconfigurable, double, and multiple AEs and constructed reconfigurable deployable polyhedral mechanisms on the basis of the Platonic polyhedron and semiregular and Johnson polyhedra. Li et al [19] developed a pair of straight elements degenerated from a pair of AEs and constructed reconfigurable deployable polyhedron mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Novel method of constructing generalized Hoberman sphere mechanisms based on deployment axes

Sun

Yao

2019

Front. Mech. Eng.

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This study proposes a method of constructing type II generalized angulated elements (GAEs II) Hoberman sphere mechanisms on the basis of deployment axes that intersect at one point. First, the constraint conditions for inserting n GAEs II into n deployment axes to form a loop are given. The angle constraint conditions of the deployment axes are obtained through a series of linear equations. Second, the connection conditions of two GAEs II loops that share a common deployable center are discussed. Third, a flowchart of constructing the generalized Hoberman sphere mechanism on the basis of deployment axes is provided. Finally, four generalized Hoberman sphere mechanisms based on a fully enclosed regular hexahedron, arithmetic sequence axes, orthonormal arithmetic sequence axes, and spiral-like axes are constructed in accordance with the given arrangement of deployment axes that satisfy the constraint conditions to verify the feasibility of the proposed method.

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A class of reconfigurable deployable platonic mechanisms

Cited by 49 publications

References 11 publications

Optimal design of kinematic performance for a novel 2R1T parallel mechanism with pantograph units

Optimal design of kinematic performance for a novel 2R1T parallel mechanism with pantograph units

Bundle folding type III Bricard linkages

Novel method of constructing generalized Hoberman sphere mechanisms based on deployment axes

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