Noise has been recognized as a serious health hazard in modern society. Among various noise reduction ways, control of the transmission path from the source to the receiver is a feasible option for both existing and new facilities. More specifically, acoustic barriers and reactive or dissipative mufflers are two characteristic measures. The performance of a noise barrier or a muffler always depends on geometries. For the former, the key geometry is the barrier height; for the latter, the key geometries are the shape and size of the expansion chamber or resonance tubes. Conventional barriers and mufflers are scarcely capable of altering their key geometries, and hence, their performance based on requirements, nor possessing adequate versatility to adapt to variable noise conditions. In this research, we show that origami, the ancient art of paper folding, provides abundant inspiration for developing reconfigurable noise controlling devices, exemplified by Miura-ori noise barrier, modular-origami silencer, Miura-ori quarter-wavelength tube, and origami-ball expansion chamber. We show that the shape and characteristic geometries of these devices can be significantly altered via folding with a single degree of freedom, which can be exploited for tuning their attenuation performances. Then the modular-origami silencer is employed to exemplify the folding-induced advantages. Finite element studies reveal that folding could reconfigure the silencer such that the sound attenuation bandwidth can be effectively tuned. In addition, by incorporating multiple origami layers in a silencer and by programming their geometries, prescribed noise control requirement can be achieved. Overall, with the modular-origami silencer as a proof-of-concept example, we demonstrate that origami could inspire new innovation in designing noise control devices with the long-desired shape re-configurability and acoustic tunability.
{"title":"Exploiting Origami Shape Reconfiguration in Noise Control Applications","authors":"Hongbing Fang, Xiang Yu, Li Cheng","doi":"10.1115/detc2019-98368","DOIUrl":"https://doi.org/10.1115/detc2019-98368","url":null,"abstract":"\u0000 Noise has been recognized as a serious health hazard in modern society. Among various noise reduction ways, control of the transmission path from the source to the receiver is a feasible option for both existing and new facilities. More specifically, acoustic barriers and reactive or dissipative mufflers are two characteristic measures. The performance of a noise barrier or a muffler always depends on geometries. For the former, the key geometry is the barrier height; for the latter, the key geometries are the shape and size of the expansion chamber or resonance tubes. Conventional barriers and mufflers are scarcely capable of altering their key geometries, and hence, their performance based on requirements, nor possessing adequate versatility to adapt to variable noise conditions. In this research, we show that origami, the ancient art of paper folding, provides abundant inspiration for developing reconfigurable noise controlling devices, exemplified by Miura-ori noise barrier, modular-origami silencer, Miura-ori quarter-wavelength tube, and origami-ball expansion chamber. We show that the shape and characteristic geometries of these devices can be significantly altered via folding with a single degree of freedom, which can be exploited for tuning their attenuation performances. Then the modular-origami silencer is employed to exemplify the folding-induced advantages. Finite element studies reveal that folding could reconfigure the silencer such that the sound attenuation bandwidth can be effectively tuned. In addition, by incorporating multiple origami layers in a silencer and by programming their geometries, prescribed noise control requirement can be achieved. Overall, with the modular-origami silencer as a proof-of-concept example, we demonstrate that origami could inspire new innovation in designing noise control devices with the long-desired shape re-configurability and acoustic tunability.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"11 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123116357","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents the design of a highly manoeuvrable and untethered under-actuated legged piezoelectric miniature robot called PISCES. It comprises of a piezoelectric patch bonded onto a thin diamond-shaped aluminium plate to form a planar unimorph piezoelectric actuator, with three rigidly attached legs to generate locomotion. Unlike other under-actuated robots found in literature which uses compliant mechanisms, our robot utilizes three different standing wave vibration modes of a thin diamond-shaped aluminium plate and well positioned rigid leg positions to achieve forward, clockwise rotation and anticlockwise rotation motion using a single piezoelectric patch. This approach have the benefit of generating a more predefined motion and thus more controllable. A finite element analysis approach is proposed to understand the modal vibration of the 2D unimorph actuator and how the geometric placement of the rigid legs together with the robot center of mass can be utilized to achieve under-actuated planar locomotion is described in detail. To verify the proposed locomotion, PISCES of a size of 90 × 60 × 11 mm, weight of 21 g is built. It is able to achieve a linear speed of 203.5 mm/s for forward motion, an angular speeds of 7.7 Revolution Per Minute (RPM) for clockwise rotation and an angular speed of 10.6 RPM for anticlockwise rotation using an input sinusoidal voltage of 100 V amplitude. Under a payload of 100 g, it moves with a linear speed of 110.8 mm/s and angular speeds of 4.1 RPM clockwise and 12.5 RPM anticlockwise. A tether-less remotely driven PISCES featuring a full suite of onboard electronics, and a more detailed experimental verification, analysis and characterization of PISCES are also demonstrated in this paper.
{"title":"A Highly Manoeuvrable and Untethered Under-Actuated Legged Piezoelectric Miniature Robot","authors":"H. Hariri, G. Soh, S. Foong, K. Wood","doi":"10.1115/detc2019-97353","DOIUrl":"https://doi.org/10.1115/detc2019-97353","url":null,"abstract":"\u0000 This paper presents the design of a highly manoeuvrable and untethered under-actuated legged piezoelectric miniature robot called PISCES. It comprises of a piezoelectric patch bonded onto a thin diamond-shaped aluminium plate to form a planar unimorph piezoelectric actuator, with three rigidly attached legs to generate locomotion. Unlike other under-actuated robots found in literature which uses compliant mechanisms, our robot utilizes three different standing wave vibration modes of a thin diamond-shaped aluminium plate and well positioned rigid leg positions to achieve forward, clockwise rotation and anticlockwise rotation motion using a single piezoelectric patch. This approach have the benefit of generating a more predefined motion and thus more controllable.\u0000 A finite element analysis approach is proposed to understand the modal vibration of the 2D unimorph actuator and how the geometric placement of the rigid legs together with the robot center of mass can be utilized to achieve under-actuated planar locomotion is described in detail. To verify the proposed locomotion, PISCES of a size of 90 × 60 × 11 mm, weight of 21 g is built. It is able to achieve a linear speed of 203.5 mm/s for forward motion, an angular speeds of 7.7 Revolution Per Minute (RPM) for clockwise rotation and an angular speed of 10.6 RPM for anticlockwise rotation using an input sinusoidal voltage of 100 V amplitude. Under a payload of 100 g, it moves with a linear speed of 110.8 mm/s and angular speeds of 4.1 RPM clockwise and 12.5 RPM anticlockwise. A tether-less remotely driven PISCES featuring a full suite of onboard electronics, and a more detailed experimental verification, analysis and characterization of PISCES are also demonstrated in this paper.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121182371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Behjat, Leighton Collins, A. Hoffman, Sharat Chidambaran, Maulikkumar Dhameliya, Souma Chowdhury
This paper presents the conceptual design and fabrication/assembly of an autonomous solar powered small unmanned ground vehicle (UGV) platform for operation in outdoor environments. The contribution lies in the ability of the proposed design to offer uninterrupted operation in terms of endurance, to facilitate educational and research applications that are otherwise challenging to perform with a typical UGV (that needs significant downtime for recharging). A high incident area for solar PV panels is required to be able to support the complete energy needs of a ∼ 46 lb UGV (i.e., fully recharge the suitably sized battery powering the UGV). This makes it challenging to develop a stable platform that can carry solar panels much larger than the surface area of the platform itself (an aspect receiving minimal attention in other similar purpose platforms). To address this challenge, a novel umbrella-like folding mechanism is conceived, designed and successfully incorporated in the baseline prototype. This mechanism allows incorporating a remarkable ∼1 sq.m of incident solar PV with a net rated capacity of 200 W, one that remains folded to facilitate mobility, and can open/unfold to different extents for energy capture when needed. At the same time, the proposed design facilitates static and dynamic stability in spite of the significant solar PV incorporation. With the reference of the baseline prototype, an optimization approach is taken to develop a conceptual design of the next generation of this solar UGV. Specifically, the incident angle of the solar panels (enabled by the umbrella mechanism) at complete-open stage and the dimensions of the mechanism links and associated supports are separately optimized to respectively maximize the energy capture and the range of the UGV (assuming operation in Buffalo, NY), subject to stability and nominal velocity (of 2km/hr) constraints. The optimum design is found to provide an estimated range of 19.8 km/day.
{"title":"Conceptual Design and Prototype Development of a Solar-Powered Ground Robot for Energy-Autonomous Operation","authors":"A. Behjat, Leighton Collins, A. Hoffman, Sharat Chidambaran, Maulikkumar Dhameliya, Souma Chowdhury","doi":"10.1115/detc2019-98361","DOIUrl":"https://doi.org/10.1115/detc2019-98361","url":null,"abstract":"\u0000 This paper presents the conceptual design and fabrication/assembly of an autonomous solar powered small unmanned ground vehicle (UGV) platform for operation in outdoor environments. The contribution lies in the ability of the proposed design to offer uninterrupted operation in terms of endurance, to facilitate educational and research applications that are otherwise challenging to perform with a typical UGV (that needs significant downtime for recharging). A high incident area for solar PV panels is required to be able to support the complete energy needs of a ∼ 46 lb UGV (i.e., fully recharge the suitably sized battery powering the UGV). This makes it challenging to develop a stable platform that can carry solar panels much larger than the surface area of the platform itself (an aspect receiving minimal attention in other similar purpose platforms). To address this challenge, a novel umbrella-like folding mechanism is conceived, designed and successfully incorporated in the baseline prototype. This mechanism allows incorporating a remarkable ∼1 sq.m of incident solar PV with a net rated capacity of 200 W, one that remains folded to facilitate mobility, and can open/unfold to different extents for energy capture when needed. At the same time, the proposed design facilitates static and dynamic stability in spite of the significant solar PV incorporation. With the reference of the baseline prototype, an optimization approach is taken to develop a conceptual design of the next generation of this solar UGV. Specifically, the incident angle of the solar panels (enabled by the umbrella mechanism) at complete-open stage and the dimensions of the mechanism links and associated supports are separately optimized to respectively maximize the energy capture and the range of the UGV (assuming operation in Buffalo, NY), subject to stability and nominal velocity (of 2km/hr) constraints. The optimum design is found to provide an estimated range of 19.8 km/day.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128084649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A conventional parallel manipulator consists of a moving platform, a fixed base platform, as well as several serial chains that connect the two platforms. This paper presents a novel five degree-of-freedom (DOF) hybrid manipulator such that its base platform itself is movable and thus reconfigurable. This hybrid structure greatly expands the workspace of the end-effector platform so that it can reach and perform tasks over a large-scale spherical honeycomb structure. First, the inverse kinematics as well as the Jacobian matrix is developed. Then, the workspace and singularity of the hybrid manipulator are studied for four different positions of the reconfigurable base platform to show the enlarged singularity-free workspace. For a large-scale honeycomb structure with prefusion requirements, which is placed within the workspace of the hybrid manipulator, the minimum and maximum limit positions of the reconfigurable base are obtained. Finally, a simulation model for the hybrid manipulator is developed using Mathematica and Adams and numerical simulations are conducted to evaluate the kinematic performance and verify the effectiveness of the hybrid manipulator.
{"title":"On the Kinematic Performance of a Novel 5-DOF Reconfigurable Hybrid Manipulator With Ultra Large Workspace for Automatic Perfusion of a Large-Scale Spherical Honeycomb Structure","authors":"Hui Yang, Hairong Fang, Q. Ge, Yuefa Fang","doi":"10.1115/detc2019-97678","DOIUrl":"https://doi.org/10.1115/detc2019-97678","url":null,"abstract":"\u0000 A conventional parallel manipulator consists of a moving platform, a fixed base platform, as well as several serial chains that connect the two platforms. This paper presents a novel five degree-of-freedom (DOF) hybrid manipulator such that its base platform itself is movable and thus reconfigurable. This hybrid structure greatly expands the workspace of the end-effector platform so that it can reach and perform tasks over a large-scale spherical honeycomb structure. First, the inverse kinematics as well as the Jacobian matrix is developed. Then, the workspace and singularity of the hybrid manipulator are studied for four different positions of the reconfigurable base platform to show the enlarged singularity-free workspace. For a large-scale honeycomb structure with prefusion requirements, which is placed within the workspace of the hybrid manipulator, the minimum and maximum limit positions of the reconfigurable base are obtained. Finally, a simulation model for the hybrid manipulator is developed using Mathematica and Adams and numerical simulations are conducted to evaluate the kinematic performance and verify the effectiveness of the hybrid manipulator.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124373540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Lingda Meng, Rongjie Kang, D. Gan, Guimin Chen, J. Dai
Shape memory alloys (SMA) can generate displacement and force via phase change and have been widely used as actuators in robotics due to their light weight and ease of control. This paper proposes a SMA-driven crawling robot which activates antagonistic SMA springs alternately through a mechanical on-off logic switching system. By introducing a cam based bistable mechanism, elastic energy is stored and released to regulate the reciprocating motion of a slider in the robot. Meanwhile, the robot feet with anisotropic friction surface are employed to convert the reciprocating motion of the slider to unidirectional locomotion of the robot. The static model of the SMA and control logic of the robot are analyzed and validated through experiments.
{"title":"A Shape Memory Alloy Driven Crawling Robot Utilizing a Bistable Mechanism","authors":"Lingda Meng, Rongjie Kang, D. Gan, Guimin Chen, J. Dai","doi":"10.1115/detc2019-97755","DOIUrl":"https://doi.org/10.1115/detc2019-97755","url":null,"abstract":"\u0000 Shape memory alloys (SMA) can generate displacement and force via phase change and have been widely used as actuators in robotics due to their light weight and ease of control. This paper proposes a SMA-driven crawling robot which activates antagonistic SMA springs alternately through a mechanical on-off logic switching system. By introducing a cam based bistable mechanism, elastic energy is stored and released to regulate the reciprocating motion of a slider in the robot. Meanwhile, the robot feet with anisotropic friction surface are employed to convert the reciprocating motion of the slider to unidirectional locomotion of the robot. The static model of the SMA and control logic of the robot are analyzed and validated through experiments.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130405929","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
David W. Andrews, Alex Avila, Jared Butler, S. Magleby, L. Howell
Stopping origami in arbitrary fold states can present a challenge for origami-based design. In this paper two categories of kirigami-based models are presented for stopping the fold motion of individual creases using deployable hard stops. These models are transcrease (across a crease) and deploy from a flat sheet. The first category is planar and has behavior similar to a four-bar linkage. The second category is spherical and behaves like a degree-4 origami vertex. These models are based on the zero-thickness assumption of paper and can be applied to origami patterns made from thin materials, limiting the motion of the base origami pattern through self-interference within the original facets. Model parameters are based on a desired fold or dihedral angle, as well as facet dimensions. Examples show model benefits and limitations.
{"title":"Kirigami-Based Deployable Transcrease Hard Stop Models Usable in Origami Patterns","authors":"David W. Andrews, Alex Avila, Jared Butler, S. Magleby, L. Howell","doi":"10.1115/detc2019-98056","DOIUrl":"https://doi.org/10.1115/detc2019-98056","url":null,"abstract":"\u0000 Stopping origami in arbitrary fold states can present a challenge for origami-based design. In this paper two categories of kirigami-based models are presented for stopping the fold motion of individual creases using deployable hard stops. These models are transcrease (across a crease) and deploy from a flat sheet. The first category is planar and has behavior similar to a four-bar linkage. The second category is spherical and behaves like a degree-4 origami vertex. These models are based on the zero-thickness assumption of paper and can be applied to origami patterns made from thin materials, limiting the motion of the base origami pattern through self-interference within the original facets. Model parameters are based on a desired fold or dihedral angle, as well as facet dimensions. Examples show model benefits and limitations.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130500596","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we investigate and evaluate origami and kirigami patterns that enable folding arrays made from flat rigid panels with uniform thickness into compact stacks. In deployed state, all panels form a completely flat plane; while in folded state, no voids exist within the stack. Two approaches are proposed. The first approach folds an array of identical rectangular panels into compact stacks. By drawing a Hamiltonian circuit over the array, a method of placing revolute joints is presented. By selecting a symmetric Hamiltonian circuit, we show that the array can be folded into two stacks. The second approach is case specific, which folds arrays consisting of square and half square triangular panels into stacks. Three basic units as well as their combinations are proposed, all of which lead to compact folding. Our designs can be applied to package solar panels for aerospace applications.
{"title":"Compactly Folding Rigid Panels With Uniform Thickness Through Origami and Kirigami","authors":"Jingyi Yang, Z. You","doi":"10.1115/detc2019-97946","DOIUrl":"https://doi.org/10.1115/detc2019-97946","url":null,"abstract":"\u0000 In this paper, we investigate and evaluate origami and kirigami patterns that enable folding arrays made from flat rigid panels with uniform thickness into compact stacks. In deployed state, all panels form a completely flat plane; while in folded state, no voids exist within the stack. Two approaches are proposed. The first approach folds an array of identical rectangular panels into compact stacks. By drawing a Hamiltonian circuit over the array, a method of placing revolute joints is presented. By selecting a symmetric Hamiltonian circuit, we show that the array can be folded into two stacks. The second approach is case specific, which folds arrays consisting of square and half square triangular panels into stacks. Three basic units as well as their combinations are proposed, all of which lead to compact folding. Our designs can be applied to package solar panels for aerospace applications.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123840610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We explore unique wave dynamics in a chain of tristable structures, inspired by multistable origami. We specifically focus on the frequency band structure of the chain, and conduct numerical and theoretical analysis. The band gap of the chain can be controlled by switching the stable state of each tristable structure. We also show that if two regions of the chain have different topological properties then wave localization can occur at the interface of the two regions. Interestingly, this interface mode is observed within the band gap. We demonstrate that the interface mode can be altered by leveraging the reconfigurable nature of the tristable structure. Our findings suggest a new strategy for controlling wave propagation in reconfigurable structures, which could be relevant for engineering applications such as energy harvesting.
{"title":"Wave Dynamics in Reconfigurable Tristable Mechanical Metamaterials","authors":"H. Yasuda, Lucia M. Korpas, J. Raney","doi":"10.1115/detc2019-97452","DOIUrl":"https://doi.org/10.1115/detc2019-97452","url":null,"abstract":"\u0000 We explore unique wave dynamics in a chain of tristable structures, inspired by multistable origami. We specifically focus on the frequency band structure of the chain, and conduct numerical and theoretical analysis. The band gap of the chain can be controlled by switching the stable state of each tristable structure. We also show that if two regions of the chain have different topological properties then wave localization can occur at the interface of the two regions. Interestingly, this interface mode is observed within the band gap. We demonstrate that the interface mode can be altered by leveraging the reconfigurable nature of the tristable structure. Our findings suggest a new strategy for controlling wave propagation in reconfigurable structures, which could be relevant for engineering applications such as energy harvesting.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122295917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a novel deployable mechanism for approximating the parabolic cylindrical surface. The proposed mechanism, which can deploy and fold synchronously in the radial and axial directions, is constructed by double four-bar linkages and scissor linkages. In the fully deployed configuration, the mechanism can approximate a cylindrical surface. It can also be folded compactly into a bundle. The radial and axial deployable mechanisms are described and their position kinematics are solved. A synchronous mechanism is designed to ensure the synchronous movement of the radial and axial mechanisms. Geometric parameters of the mechanism for approximating a given parabolic cylindrical surface are obtained. The magnification ratio of the designed mechanism is calculated. The best choice of actuator is determined through static-load analysis.
{"title":"A Novel 1-DOF Deployable Mechanism for Parabolic Cylindrical Surface Approximation","authors":"Hang Xiao, S. Lu, Xilun Ding","doi":"10.1115/detc2019-97806","DOIUrl":"https://doi.org/10.1115/detc2019-97806","url":null,"abstract":"\u0000 This paper presents a novel deployable mechanism for approximating the parabolic cylindrical surface. The proposed mechanism, which can deploy and fold synchronously in the radial and axial directions, is constructed by double four-bar linkages and scissor linkages. In the fully deployed configuration, the mechanism can approximate a cylindrical surface. It can also be folded compactly into a bundle. The radial and axial deployable mechanisms are described and their position kinematics are solved. A synchronous mechanism is designed to ensure the synchronous movement of the radial and axial mechanisms. Geometric parameters of the mechanism for approximating a given parabolic cylindrical surface are obtained. The magnification ratio of the designed mechanism is calculated. The best choice of actuator is determined through static-load analysis.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131877437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Juan Ignacio Valderrama-Rodríguez, J. Rico, J. Cervantes-Sánchez, Fernando Tomás Pérez-Zamudio
This paper analyzes the well known three axes theorem under the light of the Lie algebra se(3) of the Euclidean group, SE(3) and the symmetric bilinear forms that can be defined in this algebra. After a brief historical review of the Aronhold-Kennedy theorem and its spatial generalization, the main hypothesis is that the general version of the Aronhold-Kennedy theorem is basically the application of the Killing and Klein forms to the equation that relates the velocity states of three bodies regardless if they are free to move in the space, independent of each other, or they form part of a kinematic chain. Two representative examples are employed to illustrate the hypothesis, one where the rigid bodies are free to move in the space without any connections among them and other concerning a RCCC spatial mechanism.
{"title":"A New Look to the Three Axes Theorem","authors":"Juan Ignacio Valderrama-Rodríguez, J. Rico, J. Cervantes-Sánchez, Fernando Tomás Pérez-Zamudio","doi":"10.1115/detc2019-97443","DOIUrl":"https://doi.org/10.1115/detc2019-97443","url":null,"abstract":"\u0000 This paper analyzes the well known three axes theorem under the light of the Lie algebra se(3) of the Euclidean group, SE(3) and the symmetric bilinear forms that can be defined in this algebra. After a brief historical review of the Aronhold-Kennedy theorem and its spatial generalization, the main hypothesis is that the general version of the Aronhold-Kennedy theorem is basically the application of the Killing and Klein forms to the equation that relates the velocity states of three bodies regardless if they are free to move in the space, independent of each other, or they form part of a kinematic chain. Two representative examples are employed to illustrate the hypothesis, one where the rigid bodies are free to move in the space without any connections among them and other concerning a RCCC spatial mechanism.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133483400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：