Authors: Shengnan Lu; Dimiter Zlatanov; Xilun Ding; Rezia Molfino
Addresses: DIME, PMAR Robotics, University of Genoa, Genoa 16145, Italy; Robotics Institute, Beihang University, Beijing 100191, China ' DIME, PMAR Robotics, University of Genoa, Genoa 16145, Italy ' Robotics Institute, Beihang University, Beijing 100191, China ' DIME, PMAR Robotics, University of Genoa, Genoa 16145, Italy
Abstract: This paper proposes a novel planar deployable mechanism (PDM) based on the Hoekens straight-line linkage. The new mechanism has the property of deploying and compacting in only one dimension. The kinematics and the singularities of the PDM are analysed, and its magnification ratio is calculated as a function of the geometry of the links. Furthermore, we describe the possibility and the principles of combining multiple unit mechanisms into a larger deployable mechanism. This process allows the creation of a series of deployable mast units, which in turn are used to design a novel family of prism deployable mechanisms with one degree of freedom and invariable cross-sections.
Keywords: prism deployable mechanisms; Hoekens; straight line mechanisms; unit mechanism; magnification ratio; kinematics; singularities; deployable mast units; linkages.
International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.2/3, pp.185 - 201
Received: 10 Dec 2012
Accepted: 04 Jun 2013
Published online: 12 Jul 2014 *