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Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units

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Advances in Robot Kinematics

Abstract

The chapter presents a family of new deployable mechanisms obtained by conjoining an indefinite number of copies and variants of the same basic spatial linkage. The unit mechanism is an assembly of scissor and Sarrus linkages able to move in two or three independent directions. Unlike most deployable structures, which have one degree of freedom, the proposed devices can be deployed and compacted independently in two or three directions. Moreover, the physical boundary of the mechanism can be used to approximate and control the shape of some geometric curves. Kinematic simulations are performed to validate the proposed designs.

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Authors and Affiliations

  1. University of Genoa, Genova, Italy

    Shengnan Lu, Dimiter Zlatanov, Rezia Molfino & Matteo Zoppi

  2. Beihang University, Beijing, China

    Shengnan Lu & Xilun Ding

Authors
  1. Shengnan Lu
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  2. Dimiter Zlatanov
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  3. Xilun Ding
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  4. Rezia Molfino
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  5. Matteo Zoppi
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Corresponding author

Correspondence to Shengnan Lu .

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Editors and Affiliations

  1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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© 2014 Springer International Publishing Switzerland

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Lu, S., Zlatanov, D., Ding, X., Molfino, R., Zoppi, M. (2014). Mechanisms with Decoupled Freedoms Assembled from Spatial Deployable Units. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_53

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_53

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06697-4

  • Online ISBN: 978-3-319-06698-1

  • eBook Packages: EngineeringEngineering (R0)

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