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Research Papers: Design of Mechanisms and Robotic Systems

Topological Structural Design of Umbrella-Shaped Deployable Mechanisms Based on New Spatial Closed-Loop Linkage Units

[+] Author and Article Information
Wen-ao Cao

School of Mechanical Engineering and
Electronic Information,
China University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: cwao1986@163.com

Donghao Yang

School of Mechanical Engineering and
Electronic Information,
China University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: yangdh9311@163.com

Huafeng Ding

School of Mechanical Engineering and
Electronic Information,
China University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: dhf@ysu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 15, 2017; final manuscript received February 3, 2018; published online March 28, 2018. Assoc. Editor: Dar-Zen Chen.

J. Mech. Des 140(6), 062302 (Mar 28, 2018) (11 pages) Paper No: MD-17-1691; doi: 10.1115/1.4039388 History: Received October 15, 2017; Revised February 03, 2018

The umbrella linkage is one of the most classical deployable mechanisms. This paper concentrates on topological structural design of a family of umbrella-shaped deployable mechanisms based on new two-layer and two-loop spatial linkage units. First, deployable units are developed systematically from two-layer and two-loop linkage with four revolute pair (4R) coupling chains. Then, mobile connection modes of the deployable units are established based on the conditions of one degree-of-freedom (DOF) and structural symmetry. Finally, umbrella-shaped deployable mechanisms are constructed based on the developed deployable units and the established mobile connection modes. Like umbrellas, the designed deployable mechanisms can be actuated in a simple and reliable way, and those mechanisms have good potential applications in the fields of architecture, manufacturing, space exploration, and recreation.

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Figures

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Fig. 2

Two kinds of structural types: (a) type “{6R} ⊕ [4R] ⊕ (3R),” (b) type “{4R} ⊕  [4R] ⊕  (5R),” (c) three modules “{6R},” “[4R],” and “(3R),” and (d) three modules “{4R},” “[4R],” and “(5R)”

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Fig. 1

Composition of a two-layer and two-loop spatial linkage

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Fig. 3

Topological structures of the lower module “{4R}”: (a) “R̃1≮ R̃2” and (b) “R̃1⊥R↔2”

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Fig. 4

Topological structures of the lower module “{6R}”: (a) “R̃1 ⊥ R↔2 ⊥ R̃3” (b) “R̃1≮ R̃2 ⊥ R↔3,” and (c) “R̃1≮ R̃2/R̃3”

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Fig. 5

Topological structures of “[4R]” coupling chains: (a) “R̃10/R̃11,” (b) “R↔10 ⊥ R̃11,” and (c) “R̃10≮ R̃11”

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Fig. 9

The first five deployable units with type “{6R} ⊕ [4R]  ⊕ (3R)”

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Fig. 12

The rotation connection mode

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Fig. 13

The impossible connection mode

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Fig. 10

The first five deployable units with type “{4R} ⊕ [4R] ⊕ (5R)”

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Fig. 6

Topological structures of the upper module “(3R)”: (a) “R↔4⊥R̃5” and (b) “R̃4≮R̃5”

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Fig. 7

Topological structures of the upper module “(5R)”: (a) “R̃3 ⊥ R↔4 ⊥ R̃5,” (b) “R↔3 ⊥ R̃4≮ R̃5,” and (c) “R̃3/R̃4≮ R̃5”

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Fig. 8

The angle between the SP and the axis of R3: (a) unit “R̃1 ⊥ R↔2 ⊥ R̃3 ⊕ R↔10 ⊥ R̃11 ⊕ R↔4 ⊥ R̃5” and (b) three chains between the axis of R3 and the SP

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Fig. 11

Chain connection mode of two units: (a) diagram of unit 1, (b) diagram of unit 2, and (c) the chain connection mode

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Fig. 19

Deployable mechanisms from another four kinds of units with type “{4R} ⊕ [4R] ⊕ (5R)” under the rotation connection mode

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Fig. 21

Deployable mechanisms from another four kinds of units with type “{4R} ⊕ [4R] ⊕ (5R)” under the chain connection mode

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Fig. 20

Deployable mechanism from the unit “R̃1≮ R̃2 ⊕ R↔10 ⊥ R̃11 ⊕ R̃3 ⊥ R↔4 ⊥ R̃5” under the chain connection mode: (a) middle configuration without actuation linkage, (b) folded configuration, and (c) deployed configuration

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Fig. 15

Deployable mechanism from the unit “R̃1 ⊥ R↔2  ⊥ R̃3 ⊕ R̃10/R̃11 ⊕ R↔4 ⊥ R̃5”: (a) middle configuration without actuation linkage, (b) actuation linkage, (c) folded configuration, and (d) deployed configuration

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Fig. 16

A prototype: (a) folded configuration, (b) middle configuration, and (c) deployed configuration

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Fig. 17

Deployable mechanisms from another four kinds of units with type “{6R} ⊕ [4R] ⊕ (3R)”

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Fig. 18

Deployable mechanism from the unit “R̃1 ⊥ R↔2 ⊕ R̃10/R̃11 ⊕ R̃3 ⊥ R↔4 ⊥ R̃5” under the rotation connection mode: (a) middle configuration without actuation linkage, (b) folded configuration, and (c) deployed configuration

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Fig. 14

DOF analysis of a deployable mechanism derived by n units: (a) diagram of the mechanism, (b) structure decomposition, and (c) DOF relations

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