Synthesis and Design of a One Degree-of-Freedom Planar Deployable Mechanism With a Large Expansion Ratio

Abstract

This paper presents a new design of a deployable one degree-of-freedom (DOF) mechanism. Polygonal rigid-link designs are first investigated. Then, belt-driven links are considered in order to maximize the expansion ratio while avoiding flattened ill-conditioned parallelogram configurations. The planar basic shape of the proposed design is a triangle. Hence, virtually any planar or spatial surface can be created by assembling such faces. For architecture and telescopic applications, the cupola assembly is investigated. The advantages of this approach are discussed, and the scalability is demonstrated. Finally, a prototype is built for illustration purposes.

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

“…(24) and the solution of Eq. (26). Third, the next loop that is connected to an axis of the first loop is constructed according to Eqs.…”

“…A loop is considered, and infinite positive solutions can be obtained according to Eq. (26). A positive solution is taken, and the loop is constructed.…”

“…In the current section, the deployment axes are arranged according to the constraints in Eqs. (24), (26), and (30). As shown in Fig.…”

“…Wang and Kong [25] introduced deployable polyhedron mechanisms constructed by connecting spatial single-loop linkages. St-Onge and Gosselin [26] proposed a new design of deployable one-degree-of-freedom mechanisms based on rigid links.…”

A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control—Application to Robotic Manipulators

“…Research on robotics has been underway for decades. Research on kinematics [1], synthesizing design [2,3], workspace analysis [4,5], singularity analysis [6,7], stiffness performance [8], dynamics [9], control designs and novel applications of robotics [10][11][12] has attracted much attention. One of the most important topics nowadays is the control issue.…”