Research Papers: Mechanisms and Robotics

An Extended Myard Linkage and its Derived 6R Linkage

[+] Author and Article Information
Y. Chen

School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore

Z. You1

Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ, UKzhong.you@eng.ox.ac.uk

This is the term used by Baker (10).


Corresponding author.

J. Mech. Des 130(5), 052301 (Mar 25, 2008) (8 pages) doi:10.1115/1.2885506 History: Received January 15, 2007; Revised September 27, 2007; Published March 25, 2008

In this paper, a 6R linkage suitable as a building block for the construction of large deployable structures is presented. First, we report the possibility of construct an extended 5R Myard linkage by combining two complimentary Bennett linkages. Unlike the original 5R Myard linkage (also called Myard’s “number 1” linkage), the angle of twists in the Bennett linkages is not necessary to be π2. Then we show that a 6R linkage can be produced by merging two extended Myard linkages together and removing the common links. The closure equations for the 6R linkage are derived and its motion characteristics are discussed. Moreover, we demonstrate that a number of such 6R linkages can be assembled together to form a large-scale deployable structure, which opens to a flat profile.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Linkages , Equations
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Figure 1

A schematic diagram for an umbrellalike deployable frame made from seven Myard linkages. Only one of the Myard linkages is highlighted.

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Figure 2

(a) Two Bennett linkages a and b. (b) They are combined to form an extended Myard linkage e.

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Figure 3

(a) Two Bennett linkages c and d. (b) They are combined to form an extended Myard linkage f.

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Figure 4

A 6R linkage from two extended Myard linkages e and f

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Figure 5

μ1 versus μ2 for 6R linkage

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Figure 6

The 6R linkages (a) for a given α56=ζ and (b) when α56 is increased to π+ζ

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Figure 7

μ2 versus μ1 for 6R linkages with a given α56=ζ and the other one when α56 is increased to π+ζ

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Figure 8

Bifurcations of the 6R linkages

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Figure 9

A schematic diagram for an assembly of the new 6R linkages

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Figure 10

((a) and (b)) A deployable model consisted of four large 6R linkages in two different configurations. (c) The model is deployed by extending in one direction.




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