Mobility Analysis of Symmetric Deployable Mechanisms Involved in a Coplanar 2-Twist Screw System.pdfVIP

Bing Li State Key Laboratory of Robotics and System (HIT), Harbin 150001, China; Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China e-mail: libing.sgs@ Hailin Huang1 State Key Laboratory of Robotics and System (HIT), Harbin 150001, China; Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China e-mail: dwenhcil@ Zongquan Deng School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China e-mail: denzq@ Mobility Analysis of Symmetric Deployable Mechanisms Involved in a Coplanar 2-Twist Screw System In this paper, an intuitive approach for the mobility analysis of deployable mechanisms involved in a special screw system with two coplanar twist vectors is proposed. First, the coplanar screw system with a pair of parallel/concurrent zero pitch screws is analyzed, and the intuitive allowable mobility set for the screw system is described. Next, kinematic chains containing the coplanar screw system are enumerated. The proposed approach is used to explain the mobility of the deployable Bennett mechanism, Myard mechanism, and Bricard mechanism; some novel deployable mechanisms could be found based on the analysis. Furthermore, it is shown that the proposed approach can be applied to the mobility analysis of multiloop deployable mechanisms and is found to be more intuitive than the traditional approach, which provides a straightforward insight into the mobility of complicated mechanisms. [DOI: 10.1115/1.4030373] 1 Introduction Deployable mechanisms are widely applied in aerospace engi- neering [1] and general civil engineering [2]. In the past few deca- des, planar scissor shape mechanisms or planar linkages have been commonly adopted in deployable mechanism design because the mobility of these structures is relatively simple. Zhao et al. [3] constructed foldable stairs from scissor shape mechanisms, while Kiper et al. formed a class of deployable polygons and polyhedra from planar deployable uni