Bundle folding type III Bricard linkages
Accepted version
Peer-reviewed
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Abstract
The paper presents a set of one-degree-of-freedom overconstrained linkages, which can be folded into a bundle and deployed into a polygon on a plane. The proposed mechanisms are movable Bricard octahedra of type III, characterized by the existence of two configurations where all joints are coplanar. The possible geometries of doubly-collapsible Bricard linkages are parameterized and their kinematics is analyzed. A line-intersection method is proposed to construct a bundle-folding mechanism of this type. Necessary and sufficient conditions are derived for the deployed-configuration polygon to be a square. Simulation and prototype experiment results validate the analysis and design.
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Keywords
Type III Bricard linkage, Bundle folding, Deployable mechanism, Overconstrained linkages
Journal Title
Mechanism and Machine Theory
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Journal ISSN
0094-114X
1873-3999
1873-3999
Volume Title
144
Publisher
Elsevier
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Sponsorship
This research has been supported by the National Natural Science Foundation of China under Grant 51605011, 51635002(Key Program), the Fundamental Research Funds for the Central Universities (YWF-19-BJ-J-336), the State Key Laboratory of Robotics and System (HIT), and the AUTORECON project funded under the Seventh Framework Program of the European Commission (Collaborative Project NMP-FOF-2011-285189). The authors gratefully acknowledge the supporting agencies.