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Research Papers: Design of Mechanisms and Robotic Systems

An Approach to Designing Deployable Mechanisms Based on Rigid Modified Origami Flashers

[+] Author and Article Information
Chenhan Guang

School of Mechanical Engineering
and Automation,
Beihang University,
XueYuan Road No. 37,
HaiDian District,
Beijing 100191, China
e-mail: guangchenhan@foxmail.com

Yang Yang

School of Mechanical Engineering
and Automation,
Beihang University,
XueYuan Road No. 37,
HaiDian District,
Beijing 100191, China
e-mail: yang_mech@126.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 2, 2018; final manuscript received April 15, 2018; published online May 23, 2018. Assoc. Editor: Ettore Pennestri.

J. Mech. Des 140(8), 082301 (May 23, 2018) (11 pages) Paper No: MD-18-1090; doi: 10.1115/1.4040178 History: Received February 02, 2018; Revised April 15, 2018

Flasher, which has been used in space engineering, is a class of origami patterns. After modifying and introducing cuts for the flasher pattern, we add nonzero thickness to the flasher and taper its panels. We find that, if appropriately driven, the modified flasher can be used as the deployable mechanism, and even envelop the curved surface in its unfolded configuration. We establish a geometric model and a kinematic model for the mechanism. Then we propose a designing approach including folding design and driving method. The folding design, which ensures that the mechanism can be folded in the folded configuration, is based on geometric constraints. The driving method, which enables the multi-degree-of-freedom (DOF) mechanism to deploy in sequence with only one actuator, is based on underactuation. A prototype is built to validate this approach.

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Figures

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Fig. 1

Flashers with cuts in unfolded configurations: (a) traditional flasher, (b) modified flasher with valley creases, and (c) modified flasher with mountain creases and valley creases

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Fig. 2

Folding processes: (a) folding process for traditional flasher and (b) folding processes for modified flasher

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Fig. 3

Folding/unfolding processes for nonzero thickness added models

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Fig. 4

Folding or unfolding processes for multistage frustums

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Fig. 5

Multistage frustum enveloping parabolic surface

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Fig. 6

Model of mechanism with planar unfolded configuration

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Fig. 7

Model of mechanism with multistage frustum unfolded configuration

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Fig. 8

Setting of coordinate systems

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Fig. 9

Schematic diagram for the two conditions

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Fig. 10

Process for the design of folded configurations

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Fig. 11

Value variations of λn−1 corresponding to different parameter values

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Fig. 12

Value variation of λn−1 corresponding to recommended parameter values

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Fig. 13

Process of deployment

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Fig. 14

Force analysis (a) view from direction a (b) view from direction b

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Fig. 15

Dimensions of the torsional spring

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Fig. 16

Three-dimensional model and prototype

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Fig. 17

Deploying process of prototype

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