Kinematic Design of a Reconfigurable Deployable Canopy

Kiper, Gökhan; Gürcü, Fulya; Korkmaz, Koray; Söylemez, Eres

doi:10.1007/978-3-319-09411-3_18

Cited by 8 publications

(4 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…7), all the links can be located in four layers without encountering link interference as shown in the CAD model of the mechanism in transition configuration T(1 4 5) I . This 8-link planar mechanism could be used as a construction unit of new variable-DOF multi-loop mechanisms, which would enrich the types of reconfigurable/multi-mode deployable mechanisms [24][25][26]36,44,45].…”

Section: Reconfiguration Of the Variable-dof 8-link Planar Mechanismmentioning

confidence: 99%

Reconfiguration Analysis and Characteristics of a Novel 8-link Variable-DOF Planar Mechanism with Five Motion Modes

Kong¹,

Wang²

2023

Preprint

View full text Add to dashboard Cite

Variable-DOF (or kinematotropic) mechanisms are a class of reconfigurable mechanisms. The number of variable-DOF multi-loop planar mechanisms proposed so far is very limited. This paper proposes a novel 8-link variable-DOF planar mechanism with five motion modes. Firstly, a description of the 8-link variable-DOF planar mechanism is presented. Reconfiguration analysis of the 8-link mechanism is then carried out using an elimination and algebraic geometry hybrid approach. The analysis shows that the 8-link mechanism has one 2-DOF motion mode and four 1-DOF motion modes and can switch among three motion modes at four transition configurations and between two motion modes at the remaining four transition configurations. Geometric characteristics of the mechanism in different motion modes are also revealed. Unlike the variable-DOF planar mechanisms found in literature, the proposed 8-link mechanism has two inactive joints in one of its 1-DOF motion modes, and both 4R kinematic sub-chains of the mechanism must appear as parallelograms in a pair or anti-parallelograms in a pair in the same motion mode. As a by-product, a method for factoring trigonometric functions in two angles is proposed.

show abstract

Section: Reconfiguration Of the Variable-dof 8-link Planar Mechanismmentioning

confidence: 99%

Reconfiguration Analysis and Characteristics of a Novel 8-link Variable-DOF Planar Mechanism with Five Motion Modes

Kong¹,

Wang²

2023

Preprint

View full text Add to dashboard Cite

show abstract

“…For example, if one needs the 8-link mechanism to switch among four motion modes 1, 2, 4 and 5 only (Figure 7), all the links can be located in four layers without encountering link interference as shown in the CAD model of the mechanism in transition configuration T(1 4 5) I . This four-layer 8-link planar mechanism could be used as a construction unit of new variable-DOF multi-loop mechanisms, which would enrich the types of reconfigurable/multi-mode deployable mechanisms [25][26][27]42,51,52].…”

Section: Transition Configuration Analysis Of the 8-link Variable-dof...mentioning

confidence: 99%

Reconfiguration Analysis and Characteristics of a Novel 8-Link Variable-DOF Planar Mechanism with Five Motion Modes

Kong

Wang

2023

Machines

View full text Add to dashboard Cite

Variable-DOF (or kinematotropic) mechanisms are a class of reconfigurable mechanisms that have varying degrees of freedom (DOF) in different motion modes and can be reconfigured without disassembly. However, the number of proposed variable-DOF multi-loop planar mechanisms is currently limited. This paper introduces a new 8-link variable-DOF planar mechanism that has five motion modes. Firstly, the 8-link variable-DOF planar mechanism is described. Then, reconfiguration analysis of the mechanism is performed using a hybrid approach that combines elimination and computer algebraic geometry methods. The analysis reveals that the 8-link mechanism has one 2-DOF motion mode and four 1-DOF motion modes. It can switch among three motion modes at four transition configurations and between two motion modes at the remaining four transition configurations. The paper also highlights the geometric characteristics of the mechanism in different motion modes. In contrast to variable-DOF planar mechanisms presented in the literature, the proposed 8-link mechanism has two inactive joints in one of its 1-DOF motion modes. Moreover, both closed-loop 4R kinematic sub-chains of the mechanism must appear as either a pair of parallelograms or a pair of anti-parallelograms in the same motion mode. As a by-product of this research, a method for factoring trigonometric functions in two angles is also proposed.

show abstract

“…The planar mechanism can be multiplied in parallel planes as many as desired and connected with each other using parallelogram loops in order to obtain a vaultshaped structure. The planar reconfigurable deployable canopy proposed in [4] is generalized and the associated kinematic design is presented in [5]. The reconfiguration of the canopy from either of the deployed forms to the other one is achieved by reconfiguration through a singular configuration where some of the links in the loops become collinear.…”

Section: Introductionmentioning

confidence: 99%

“…This study is concerned with design of reconfigurable deployable canopies with radially distributed limbs. The kinematic structure and design of the radial structure is different than the planar structure in [4,5]. Mass balancing of such umbrella canopies is possible as issued in [6].…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable Deployable Umbrella Canopies

Jovichikj

Yaşır

Kiper

2018

2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR)

Self Cite

View full text Add to dashboard Cite

The kinematic design of reconfigurable deployable canopy mechanisms with radially distributed limbs are presented in this study. The mechanisms allow a compact form and are reconfigurable with several alternative deployed forms which can be in the form of a tent, a canopy or a form in between. Each limb of the canopy possesses at least two assembly modes which enables reconfigurability. The conditions for deployment and reconfiguration of the mechanism are derived. These conditions impose equality and inequality constraints for the link lengths of the mechanism. A parametric model of the mechanism is constructed in Excel for design and simulation purposes. Solid models and a prototype are presented as examples.

show abstract

Kinematic Design of a Reconfigurable Deployable Canopy

Cited by 8 publications

References 4 publications

Reconfiguration Analysis and Characteristics of a Novel 8-link Variable-DOF Planar Mechanism with Five Motion Modes

Reconfiguration Analysis and Characteristics of a Novel 8-link Variable-DOF Planar Mechanism with Five Motion Modes

Reconfiguration Analysis and Characteristics of a Novel 8-Link Variable-DOF Planar Mechanism with Five Motion Modes

Reconfigurable Deployable Umbrella Canopies

Contact Info

Product

Resources

About