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research-article

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, P.R. China
huanghailin@hit.edu.cn

Bing Li

Shenzhen Key Lab of Mechanisms and Control in Aerospace, Harbin Institute of Technology (Shenzhen), Shenzhen, 518052, PR China
Libing.sgs@hit.edu.cn

Tieshan Zhang

Harbin Institute of Technology (Shenzhen), Shenzhen, 518055, P.R. China
zhangtieshan@stu.hit.edu.cn

Zhao Zhang

The 54th Research Institute of China Electronics Technology Group Corporation
zhchao@cti.ac.cn

Xiaozhi Qi

Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China
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
ying.hu@siat.ac.cn

1Corresponding author.

ASME doi:10.1115/1.4041178 History: Received April 19, 2018; Revised August 03, 2018

Abstract

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 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.

Copyright (c) 2018 by ASME
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