Bundle folding type III Bricard linkages. (February 2020)

• Record Type: Journal Article
• Authors: Lyu, Shengnan; Zlatanov, Dimiter; Zoppi, Matteo; Ding, Xilun; Chirikjian, Gregory S.; Guest, Simon D.
• Is Part Of: Mechanism and machine theory. Volume 144(2020)
• Publication Date: 2020-02
• Subjects: Type III Bricard linkage -- Bundle folding -- Deployable mechanism -- Overconstrained linkages; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2019.103663
• Languages: English
• ISSNs: 0094-114X

Abstract

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.