0
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2019 by ASME
Your Session has timed out. Please sign back in to continue.

References

Hu, K. , and Zhang, Y. J. , 2016, “ Centroidal Voronoi Tessellation Based Polycube Construction for Adaptive All-Hexahedral Mesh Generation,” Comput. Methods Appl. Mech. Eng., 305(15), pp. 405–421. [CrossRef]
Lacey, P. M. , and Fenney, S. , 2016, “ Tessellation Method Using Recursive Sub-Division of Triangles,” U.S. Patent No. US20160358375.
Sugimoto, T. , 2017, “ Convex Polygons for Aperiodic Tiling,” eprint arXiv:1602.06372. https://arxiv.org/abs/1602.06372
Mathar, R. J. , 2016, “ Tiling Hexagons With Smaller Hexagons and Unit Triangles,” eprint viXra:1608.0380. http://www.rxiv.org/abs/1608.0380
Chen, Y. , 2003, “ Design of Structural Mechanisms,” Ph.D. dissertation, University of Oxford, Oxford, UK.
Liu, S. Y. , and Chen, Y. , 2009, “ Myard Linkage and Its Mobile Assemblies,” Mech. Mach. Theory, 44(10), pp. 1950–1963. [CrossRef]
Chen, Y. , and You, Z. , 2008, “ On Mobile Assemblies of Bennett Linkages,” Proc. R. Soc. A, 464(2093), pp. 1275–1283. [CrossRef]
Chen, Y. , and You, Z. , 2007, “ Square Deployable Frame for Space Application—Part II: Realization,” Proc. Inst. Mech. Eng., Part G: J. Aerosp. Eng., 221(1), pp. 37–45. [CrossRef]
Chen, Y. , You, Z. , and Tarnai, T. , 2005, “ Threefold-Symmetric Bricard Linkages for Deployable Structures,” Int. J. Solids Struct., 42(8), pp. 2287–2301. [CrossRef]
Wang, J. , and Kong, X. , 2018, “ Deployable Polyhedron Mechanisms Constructed by Connecting Spatial Single-Loop Linkages of Different Types and/or in Different Sizes Using S Joints,” Mech. Mach. Theory, 124, pp. 211–225. [CrossRef]
Cao, W-A. , Yang, D. , and Ding, H. , 2018, “ Topological Structural Design of Umbrella-Shaped Deployable Mechanisms Based on New Spatial Closed-Loop Linkage Units,” ASME J. Mech. Des., 140(6), p. 062302. [CrossRef]
Huang, H. , Deng, Z. , Qi, X. , and Li, B. , 2013, “ Virtual Chain Approach for Mobility Analysis of Multiloop Deployable Mechanisms,” ASME J. Mech. Des., 135(11), p. 111002. [CrossRef]
Qi, X. , Huang, H. , Miao, Z. , and Li, B. , 2017, “ Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage,” ASME J. Mech. Des., 139(2), p. 022302. [CrossRef]
Sattar, M. , and Wei, C. , 2016, “ Analytical Kinematics and Trajectory Planning of Large Scale Hexagonal Modular Mesh Deployable Antenna,” Third International Conference on Mechanics and Mechatronics Research, Chongqing, China, June 15–17, p. 01012.
Wei, G. , Chen, Y. , and Dai, J. , 2014, “ Synthesis, Mobility, and Multifurcation of Deployable Polyhedral Mechanisms With Radially Reciprocating Motion,” ASME J. Mech. Des., 136(9), p. 091003. [CrossRef]
Cui, J. , Huang, H. , Li, B. , and Deng, Z. , 2012, “ A Novel Surface Deployable Antenna Structure Based on Special Form of Bricard Linkages,” The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China, July 8–11, pp. 783–792.
Guest, S. D. , and Pellegrino, S. , 1996, “ A New Concept for Solid Surface Deployable Antennas,” Acta Astronaut., 38(2), pp. 103–113. [CrossRef]
Nelson, T. G. , Lang, R. J. , Pehrson, N. A. , Magleby, S. P. , and Howell, L. L. , 2016, “ Facilitating Deployable Mechanisms and Structures Via Developable Lamina Emergent Arrays,” ASME J. Mech. Rob., 8(3), p. 031006. [CrossRef]
Wohlhart, K. , 2008, “ Double-Ring Polyhedral Linkages,” Conference on Interdisciplinary Applications of Kinematics, Lima, Peru, Jan. 9–11, pp. 1–17.
Wei, G. , and Dai, J. , 2014, “ A Spatial Eight-Bar Linkage and Its Association With the Deployable Platonic Mechanisms,” ASME J. Mech. Rob., 6(2), p. 021010. [CrossRef]
Huang, H. , Zhu, J. , Li, B. , and Qi, X. , 2016, “ A New Family of Bricard-Derived Deployable Mechanisms,” ASME J. Mech. Rob., 8(3), p. 034503. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Spherical surface segmentation by triangular prismoid modules

Grahic Jump Location
Fig. 2

Spherical tiling consists of seven hexagonal prismoid tiles

Grahic Jump Location
Fig. 3

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

Grahic Jump Location
Fig. 4

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

Grahic Jump Location
Fig. 5

Triangular prismoid deployable module without prismatic joints

Grahic Jump Location
Fig. 6

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

Grahic Jump Location
Fig. 7

The intersection axes in CAD model of triangular prismoid deployable module

Grahic Jump Location
Fig. 8

Geometry of center and peripheral hexagonal prismoid modules

Grahic Jump Location
Fig. 9

Different sizes of central and peripheral hexagonal prismoids

Grahic Jump Location
Fig. 10

The connection of the adjacent triangular prismoid deployable modules

Grahic Jump Location
Fig. 11

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

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In