Research Papers: Design of Mechanisms and Robotic Systems

Design of Large Single-Mobility Surface-Deployable Mechanism Using Irregularly Shaped Triangular Prismoid Modules

[+] Author and Article Information
Hailin Huang

Harbin Institute of Technology, Shenzhen,
Shenzhen 518055, China;
State Key Laboratory of Robotics and System (HIT),
Harbin 150001, China
e-mail: huanghailin@hit.edu.cn

Bing Li

Shenzhen Key Lab of Mechanisms
and Control in Aerospace,
Harbin Institute of Technology, Shenzhen,
Shenzhen 518052, China
e-mail: libing.sgs@hit.edu.cn

Tieshan Zhang

Harbin Institute of Technology, Shenzhen,
Shenzhen 518055, China
e-mail: zhangtieshan@stu.hit.edu.cn

Zhao Zhang

The 54th Research Institute of China,
Electronics Technology Group Corporation,
Shijiazhuang 050000, China
e-mail: zhchao@cti.ac.cn

Xiaozhi Qi

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
Shenzhen 518055, China
e-mail: xz.qi@siat.ac.cn

Ying Hu

Shenzhen Key Laboratory of Minimally Invasive
Surgical Robotics and System,
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
Shenzhen 518055, China
e-mail: ying.hu@siat.ac.cn

1Corresponding authors.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 19, 2018; final manuscript received August 3, 2018; published online October 10, 2018. Assoc. Editor: Dar-Zen Chen.

J. Mech. Des 141(1), 012301 (Oct 10, 2018) (7 pages) Paper No: MD-18-1325; doi: 10.1115/1.4041178 History: Received April 19, 2018; Revised August 03, 2018

This paper presents the design methodology for a single-mobility, large surface-deployable mechanism using irregularly shaped triangular prismoid units. First, we demonstrate that the spherical shell, as the deployed profile of the large deployable mechanism, cannot be filled with identical regular-shaped triangular prismoids (truncated pyramid) without gaps, which makes the design challenging because a large set of nonidentical modules should be moved synchronously. Second, we discuss the design of a novel deployable mechanism that can be deployed onto irregularly shaped triangular prismoids, which will be used as the basic module to fill the spherical shell. Owing to high stiffness and ease of actuation, a planar scissor-shape deployable mechanism is applied. Third, we study the mobile assemblies of irregularly shaped modules in large surface-deployable mechanisms. We discover that hyper kinematic redundant constraints exist in a multiloop mechanism, making the design even more difficult. In order to address this issue, a methodology for reducing these redundant constraints is also discussed. Finally, a physical prototype is fabricated to demonstrate the feasibility of the proposed design methodology.

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Fig. 1

Spherical surface segmentation by triangular prismoid modules

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Fig. 2

Spherical tiling consists of seven hexagonal prismoid tiles

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Fig. 3

Planar single-DOF deployable mechanism with two 3R1P closed loops

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Fig. 4

Triangular prismoid deployable module with prismatic joints: (a) threefold-symmetric Bricard linkage and (b) the derived mechanism

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Fig. 5

Triangular prismoid deployable module without prismatic joints

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Fig. 6

CAD model of triangular prismoid deployable module: (a) deployed configuration, (b) mid configuration, and (c) folded configuration

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Fig. 7

The intersection axes in CAD model of triangular prismoid deployable module

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Fig. 8

Geometry of center and peripheral hexagonal prismoid modules

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Fig. 9

Different sizes of central and peripheral hexagonal prismoids

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Fig. 10

The connection of the adjacent triangular prismoid deployable modules

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Fig. 11

Prototype of proposed deployable mechanism: (a) deployed configuration, (b) general configuration, and (c) folded configuration



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