Design of deployable mechanisms based on Wren parallel mechanism units
机制(生物学)
计算机科学
机构设计
运动学
作者
Jieyu Wang,Xianwen Kong,Jingjun Yu
出处
期刊:Journal of Mechanical Design日期:2021-12-15卷期号:: 1-10被引量:1
标识
DOI:10.1115/1.4053282
摘要
Abstract This paper presents a series of deployable mechanisms based on n-UU (universal joint) Wren parallel mechanism (PM) units, which undergo one degree-of-freedom (DOF) Borel-Bricard motion. First, the PM unit is developed into ortho-planar mechanisms by adopting an R-R joint. The link parameters of the mechanism are optimized to maximize the folding ratio while avoiding interference. Then, the optimized PM units are piled up to construct a novel 1-DOF multi-layer mechanism which has the largest folding ratio among similar structures in the literature. Moreover, polyhedral deployable mechanisms are obtained by connecting the PM unit using U joint or U-U joint. Apart from saving space, the polyhedral mechanisms can transform among different shapes of polyhedrons. Finally, variations of the n-UU PM are investigated with different shapes of platforms, and each mechanism has its unique movement characteristics.