A Mirrored Approach to Generate Spatial Deployable Assemblies using Tripod-scissor Units

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL

Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-10-20 DOI:10.1115/1.4063872

Yuan Liao, Sudarshan Krishnan

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Abstract

Abstract A tripod-scissor unit, unlike planar scissor pairs, consists of three rods connected at an intermediate joint thus forming a spatially transformable unit. Geometrically, a tripod-scissor unit is axisymmetric but does not possess reflectional symmetry. This paper proposes a mirrored assembly approach wherein two units are connected symmetrically about the mirroring plane. The assembly approach results in different geometric conditions and motion characteristics. Two types of four-unit deployable blocks were made – one out of straight and the other of angulated members. Design equations were developed to study the influence of member geometry and assembly method on the structure's form and transformation. Digital models helped to validate the analytical results and to simulate the motion of the structures. More sample structures are presented to demonstrate the assembly of multiple units using the mirrored approach. The analysis shows that the mirrored assembly tripod-scissors result in a new generation of mechanisms with different transformation characteristics. Closed polyhedral forms with a high expansion ratio are possible.

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使用三脚架-剪刀单元生成空间可展开组件的镜像方法

与平面剪刀对不同的是，三脚架-剪刀单元由三根在中间关节连接的杆组成，从而形成一个空间可变换的单元。几何上，三脚架-剪刀单元是轴对称的，但不具有反射对称。本文提出了一种镜像装配方法，其中两个单元在镜像平面上对称连接。装配方式导致不同的几何条件和运动特性。制作了两种类型的四单元可展开块-一种是直的，另一种是有角的成员。建立了设计方程，研究了构件几何形状和装配方式对结构形态和变形的影响。数字模型有助于验证分析结果并模拟结构的运动。更多的样本结构被提出，以演示使用镜像方法的多个单元的组装。分析表明，镜像装配三脚架-剪子形成了具有不同变换特性的新一代机构。具有高膨胀比的封闭多面体是可能的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.