Some engineering applications require structures to expand and contract in size, while retaining their exterior shape. The applications range from mundane daily life objects to more fancy art structures. In contrast to a multi degree-of-freedom structure, a single degree-of-freedom structure can be driven by a single actuator, reducing cost and simplifying the control. In this paper, we study single degree-of-freedom structures that can be formed by a lattice of single degree-of-freedom polyhedral expanding units. Due to built-in symmetries, the entire structure can expand and contract as one of the units in the structure is actuated. The paper describes the design of polyhedral single degree-of-freedom systems, the structures of their dynamics/optimal control, and results from construction prototypes.
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September 2002
Technical Papers
Polyhedral Single Degree-of-freedom Expanding Structures: Design and Prototypes
Sunil K. Agrawal, Associate Professor,
Sunil K. Agrawal, Associate Professor
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716
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Saravana Kumar, Graduate Student,
Saravana Kumar, Graduate Student
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716
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Mark Yim, Members of Research Staff,
Mark Yim, Members of Research Staff,
Xerox Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304
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Sunil K. Agrawal, Associate Professor
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716
Saravana Kumar, Graduate Student
Department of Mechanical Engineering, University of Delaware, Newark, DE 19716
Mark Yim, Members of Research Staff,
Xerox Palo Alto Research Center, 3333 Coyote Hill Road, Palo Alto, CA 94304
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 2000. Associate Editor: J. S. Rastegar.
J. Mech. Des. Sep 2002, 124(3): 473-478 (6 pages)
Published Online: August 6, 2002
Article history
Received:
October 1, 2000
Online:
August 6, 2002
Citation
Agrawal, S. K., Kumar, S., and Yim, M. (August 6, 2002). "Polyhedral Single Degree-of-freedom Expanding Structures: Design and Prototypes ." ASME. J. Mech. Des. September 2002; 124(3): 473–478. https://doi.org/10.1115/1.1480413
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