The kinematic synthesis equations of fairly simple planar linkage topologies are vastly nonlinear. This indicates that a large number of solutions exist, and hence a large number of design candidates might be present. Recent algorithms based in polynomial homotopy continuation have enabled the computation of entire solution sets that were previously not possible. These algorithms are based on a technique that stochastically accumulates finite roots and guarantees the exclusion of infinite roots. Here we apply the Cyclic Coefficient Parameter Continuation (CCPC) method to obtain for the first time the complete solution of a Stephenson III six-bar that traces a path and coordinates the angle of its input link along that path. Linkages of this type, called timed curve generators, are particularly useful for controlling the motion of an end effector point and influencing its transmission properties from a rotary input. For a numerically general version of the synthesis equations, we computed an approximately complete set of 1,017,708 solutions that divides into subsets of four according to the Stephenson III cognate structure. This numerically generic solution set essentially represents a design tool. It can be used in conjunction with a parameter homotopy to efficiently obtain all isolated roots of other systems of this same structure that correspond to a specific synthesis task. This is demonstrated with two example synthesis tasks.
{"title":"Synthesis of Stephenson III Timed Curve Generators Using a Probabilistic Continuation Method","authors":"A. Baskar, Mark M. Plecnik","doi":"10.1115/detc2019-98136","DOIUrl":"https://doi.org/10.1115/detc2019-98136","url":null,"abstract":"\u0000 The kinematic synthesis equations of fairly simple planar linkage topologies are vastly nonlinear. This indicates that a large number of solutions exist, and hence a large number of design candidates might be present. Recent algorithms based in polynomial homotopy continuation have enabled the computation of entire solution sets that were previously not possible. These algorithms are based on a technique that stochastically accumulates finite roots and guarantees the exclusion of infinite roots. Here we apply the Cyclic Coefficient Parameter Continuation (CCPC) method to obtain for the first time the complete solution of a Stephenson III six-bar that traces a path and coordinates the angle of its input link along that path. Linkages of this type, called timed curve generators, are particularly useful for controlling the motion of an end effector point and influencing its transmission properties from a rotary input. For a numerically general version of the synthesis equations, we computed an approximately complete set of 1,017,708 solutions that divides into subsets of four according to the Stephenson III cognate structure. This numerically generic solution set essentially represents a design tool. It can be used in conjunction with a parameter homotopy to efficiently obtain all isolated roots of other systems of this same structure that correspond to a specific synthesis task. This is demonstrated with two example synthesis tasks.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"118 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":"116353000","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, the cable tension and platform deflection of cable-robots are investigated. The significance of cable density, elasticity and cross-sectional area; platform mass, radius and center of mass; external wrench and platform orientation on the cable tension, platform deflection and workspace of the planar cable robots is investigated. It is shown that, in addition to cable mass, the effect of external wrench on the workspace of catenary cable model could be more prominent. Moreover, design issues and parameters affecting the manipulator deflection are examined, and those that would result in disjointed workspace regions and deflection maps are identified. It is presented that the change in deflection is gradual throughout the workspace for constant external wrench. For the catenary model, depending on the cable properties, platform orientation, manipulator design, and external wrench, the workspace with deflection limit may consist of disconnected regions.
{"title":"Deflection Maps of Elastic Catenary Cable-Driven Robots","authors":"L. Notash","doi":"10.1115/detc2019-97083","DOIUrl":"https://doi.org/10.1115/detc2019-97083","url":null,"abstract":"\u0000 In this paper, the cable tension and platform deflection of cable-robots are investigated. The significance of cable density, elasticity and cross-sectional area; platform mass, radius and center of mass; external wrench and platform orientation on the cable tension, platform deflection and workspace of the planar cable robots is investigated. It is shown that, in addition to cable mass, the effect of external wrench on the workspace of catenary cable model could be more prominent. Moreover, design issues and parameters affecting the manipulator deflection are examined, and those that would result in disjointed workspace regions and deflection maps are identified. It is presented that the change in deflection is gradual throughout the workspace for constant external wrench. For the catenary model, depending on the cable properties, platform orientation, manipulator design, and external wrench, the workspace with deflection limit may consist of disconnected regions.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"23 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":"116553121","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}
The potential of compliant mechanisms and related origami-based mechanical systems to store strain energy make them ideal candidates for applications requiring an actuation or deployment process, such as space system arrays, minimally invasive surgical devices and deployable barriers. Many origami structures can be thought of as a compliant mechanism because, like compliant mechanisms, its function is performed through the elastic deformation of its members. This stored strain energy could prove useful. There are opportunities using strain energy to develop approaches to deploy particular mechanical systems. In order to better understand the principles of self-actuation and promote the designs of such systems, a taxonomy of deployable origami mechanisms is presented. This taxonomy demonstrates that there are several different types of deployable origami mechanisms and provides an organizational method to better understand the design space. Characteristics of self deployment in concentrated, deployable origami strain energy mechanisms with internal actuation are identified and examples of strain energy based deployment are provided.
{"title":"Characteristics of Self-Deployment in Origami-Based Systems","authors":"Mary E. Wilson, S. Magleby, L. Howell, A. Bowden","doi":"10.1115/detc2019-98126","DOIUrl":"https://doi.org/10.1115/detc2019-98126","url":null,"abstract":"\u0000 The potential of compliant mechanisms and related origami-based mechanical systems to store strain energy make them ideal candidates for applications requiring an actuation or deployment process, such as space system arrays, minimally invasive surgical devices and deployable barriers. Many origami structures can be thought of as a compliant mechanism because, like compliant mechanisms, its function is performed through the elastic deformation of its members. This stored strain energy could prove useful. There are opportunities using strain energy to develop approaches to deploy particular mechanical systems. In order to better understand the principles of self-actuation and promote the designs of such systems, a taxonomy of deployable origami mechanisms is presented. This taxonomy demonstrates that there are several different types of deployable origami mechanisms and provides an organizational method to better understand the design space. Characteristics of self deployment in concentrated, deployable origami strain energy mechanisms with internal actuation are identified and examples of strain energy based deployment are provided.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"26 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":"131205856","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}
The regional-sandwiching of compliant sheets (ReCS) technique presented in this work creates flat-foldable, rigid-foldable, and self-deploying thick origami-based mechanisms. Regional-sandwiching of the compliant sheet is used to create mountain/valley assignments for each fold about a vertex, constraining motion to a single branch of folding. Strain energy in deflected flexible members is used to enable self-deployment. This work presents the methods to design origami-based mechanisms using the ReCS technique, including volume trimming at the vertex of the compliant sheet and of the panels used in the sandwich. Physical models of a simple single fold mechanism and a degree-four vertex mechanism are presented to demonstrate the ReCS technique using acrylic panels and spring steel. Consideration is given to the risk of yielding of the compliant sheet due to parasitic motion with possible mitigation of yielding by decreasing the thickness of the sheet.
{"title":"Thick Folding Through Regionally-Sandwiched Compliant Sheets","authors":"Jared Butler, Nathan A. Pehrson, S. Magleby","doi":"10.1115/detc2019-97899","DOIUrl":"https://doi.org/10.1115/detc2019-97899","url":null,"abstract":"\u0000 The regional-sandwiching of compliant sheets (ReCS) technique presented in this work creates flat-foldable, rigid-foldable, and self-deploying thick origami-based mechanisms. Regional-sandwiching of the compliant sheet is used to create mountain/valley assignments for each fold about a vertex, constraining motion to a single branch of folding. Strain energy in deflected flexible members is used to enable self-deployment. This work presents the methods to design origami-based mechanisms using the ReCS technique, including volume trimming at the vertex of the compliant sheet and of the panels used in the sandwich. Physical models of a simple single fold mechanism and a degree-four vertex mechanism are presented to demonstrate the ReCS technique using acrylic panels and spring steel. Consideration is given to the risk of yielding of the compliant sheet due to parasitic motion with possible mitigation of yielding by decreasing the thickness of the sheet.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"5 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":"116243461","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}
Two novel folded honeycombs with miura pattern are proposed in this paper. Geometry parameters for design process are given and explained. The in-plane compressive strength of the two proposed novel folded honeycombs has been studied by means of finite element simulation using ABAQUS. Quasi-static loading in two in-plane direction is selected to obtain the deformation and plateau stress. The unique collapse modes and plateau state are obtained and discussed. Compared with the conventional honeycombs, the in-plane strength of the two folded honeycombs is improved significantly. The negative Poisson’s ratio effect and buckling-restrained mechanism are introduced to illustrate the improvement. It is summarized that plateau stress under in-plane loading is improved with the included angle of miura pattern decrease for the local buckling is restrained. The folded auxetic honeycomb has the best in-plane strength for its presented negative Poisson’s ratio in two loading cases.
{"title":"In-Plane Compressive Strength Analysis of Novel Folded Honeycomb Material","authors":"Ma Ruijun, Jianguo Cai, Yutao Wang, Jian Feng","doi":"10.1115/detc2019-97821","DOIUrl":"https://doi.org/10.1115/detc2019-97821","url":null,"abstract":"\u0000 Two novel folded honeycombs with miura pattern are proposed in this paper. Geometry parameters for design process are given and explained. The in-plane compressive strength of the two proposed novel folded honeycombs has been studied by means of finite element simulation using ABAQUS. Quasi-static loading in two in-plane direction is selected to obtain the deformation and plateau stress. The unique collapse modes and plateau state are obtained and discussed. Compared with the conventional honeycombs, the in-plane strength of the two folded honeycombs is improved significantly. The negative Poisson’s ratio effect and buckling-restrained mechanism are introduced to illustrate the improvement. It is summarized that plateau stress under in-plane loading is improved with the included angle of miura pattern decrease for the local buckling is restrained. The folded auxetic honeycomb has the best in-plane strength for its presented negative Poisson’s ratio in two loading cases.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"44 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":"134138396","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 topology optimization methodology to synthesize cable-actuated, shape-changing, tensegrity systems specified through path generation requirements. Estabished tensegrity topology optimization procedures exist for static structures. For active tensegrity systems, motion characteristics are typically explored after the structural topology is determined. The work presented in this paper extends the established procedure to introduce prescribed motion into the topology optimization. A ground structure approach is used in conjunction with the design space. The topology optimization problem is formulated into a mixed integer linear programming problem. Desired motion is prescribed by identifying trace points in the design space and corresponding paths. The result of this methodology is the creation of a tensegrity system that can achieve shape-change as specified with prescribed paths.
{"title":"Topology Optimization of Cable-Actuated, Shape-Changing, Tensegrity Systems for Path Generation","authors":"D. Myszka, J. Joo, D. C. Woods, A. Murray","doi":"10.1115/detc2019-97367","DOIUrl":"https://doi.org/10.1115/detc2019-97367","url":null,"abstract":"\u0000 This paper presents a topology optimization methodology to synthesize cable-actuated, shape-changing, tensegrity systems specified through path generation requirements. Estabished tensegrity topology optimization procedures exist for static structures. For active tensegrity systems, motion characteristics are typically explored after the structural topology is determined. The work presented in this paper extends the established procedure to introduce prescribed motion into the topology optimization. A ground structure approach is used in conjunction with the design space. The topology optimization problem is formulated into a mixed integer linear programming problem. Desired motion is prescribed by identifying trace points in the design space and corresponding paths. The result of this methodology is the creation of a tensegrity system that can achieve shape-change as specified with prescribed paths.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"3 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":"125587764","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}
Origami is an art that creates a three-dimensional (3D) shape only by folding. This capability has drawn much research attention recently, and its applied or inspired designs are utilized in various engineering applications. Most current designs are based on the existing origami patterns and their known deformation, but origami patterns are universally designed for zero-thickness like a paper. To extend the designs for engineering applications, simulation of origami is needed to help designers explore and understand the designs, and the simulation must take the material thickness into account. With the observation that origami is mainly a geometry design problem, this paper develops a geometric simulation for thick origami, similar to a pseudo-physics approach. The actuation, constraints, and mountain/valley assignments of origami are also incorporated in the geometric formulation. Experimental results show that the proposed method is efficient and accurate. It can simulate successfully the bistable property of a waterbomb base, two different action origami, and the elasticity of origami panels when they are not rigid.
{"title":"Geometric Simulation for Thick Origami","authors":"Tsz-Ho Kwok","doi":"10.1115/detc2019-97094","DOIUrl":"https://doi.org/10.1115/detc2019-97094","url":null,"abstract":"\u0000 Origami is an art that creates a three-dimensional (3D) shape only by folding. This capability has drawn much research attention recently, and its applied or inspired designs are utilized in various engineering applications. Most current designs are based on the existing origami patterns and their known deformation, but origami patterns are universally designed for zero-thickness like a paper. To extend the designs for engineering applications, simulation of origami is needed to help designers explore and understand the designs, and the simulation must take the material thickness into account. With the observation that origami is mainly a geometry design problem, this paper develops a geometric simulation for thick origami, similar to a pseudo-physics approach. The actuation, constraints, and mountain/valley assignments of origami are also incorporated in the geometric formulation. Experimental results show that the proposed method is efficient and accurate. It can simulate successfully the bistable property of a waterbomb base, two different action origami, and the elasticity of origami panels when they are not rigid.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"48 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":"129646065","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}
Ke Liu, Madelyn Kosednar, Tomohiro Tachi, G. Paulino
Origami-inspired mechanical systems are mostly composed of two-dimensional elements, a feature inherited from paper folding. However, do we have to comply with this restriction on our design space? Would it be more approachable to achieve desired performance by integrating elements of different abstract dimensions? In this paper, we propose an integrated structural system consisting of both two-dimensional and one-dimensional elements. We attach elastic strings onto an origami design to modify its mechanical behavior and create new features. We show that, by introducing elastic strings to the recently proposed Morph pattern, we can obtain bistable units with programmable energy landscape. The behavior of this integrated origami-string system can be described by an elegant formulation, which can be used to explore its rich programmability.
{"title":"Integrated Origami-String System","authors":"Ke Liu, Madelyn Kosednar, Tomohiro Tachi, G. Paulino","doi":"10.1115/detc2019-97486","DOIUrl":"https://doi.org/10.1115/detc2019-97486","url":null,"abstract":"\u0000 Origami-inspired mechanical systems are mostly composed of two-dimensional elements, a feature inherited from paper folding. However, do we have to comply with this restriction on our design space? Would it be more approachable to achieve desired performance by integrating elements of different abstract dimensions? In this paper, we propose an integrated structural system consisting of both two-dimensional and one-dimensional elements. We attach elastic strings onto an origami design to modify its mechanical behavior and create new features. We show that, by introducing elastic strings to the recently proposed Morph pattern, we can obtain bistable units with programmable energy landscape. The behavior of this integrated origami-string system can be described by an elegant formulation, which can be used to explore its rich programmability.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"49 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":"122702383","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}
Plastically annealed lamina emergent mechanisms have been recently introduced as origami-based structures that can be designed with a tendency to return into arbitrary folding states without additional actuators or external stimuli. The inherent elasticity of the surrogate hinges can realize a large range of elastic deformation. This paper describes the implementation of the PALEO principle for structures made from 2mm thick polycarbonate. The flat sheet is machined to generate the hinge elements and is afterwards folded and thermally annealed in a non-flat state. A FE analysis of the initial folding and behavior after annealing is carried out in parallel, with the goal to determine strains and stresses for different hinge configurations. Finally, a dynamic test is carried out on PALEO unit cells to determine the fatigue behavior of the manufactured samples.
{"title":"Analysis of Static and Dynamic Behavior of Thick-Walled PALEO Elements","authors":"Y. Klett, Fabian Muhs, P. Middendorf","doi":"10.1115/detc2019-97155","DOIUrl":"https://doi.org/10.1115/detc2019-97155","url":null,"abstract":"\u0000 Plastically annealed lamina emergent mechanisms have been recently introduced as origami-based structures that can be designed with a tendency to return into arbitrary folding states without additional actuators or external stimuli. The inherent elasticity of the surrogate hinges can realize a large range of elastic deformation. This paper describes the implementation of the PALEO principle for structures made from 2mm thick polycarbonate. The flat sheet is machined to generate the hinge elements and is afterwards folded and thermally annealed in a non-flat state. A FE analysis of the initial folding and behavior after annealing is carried out in parallel, with the goal to determine strains and stresses for different hinge configurations. Finally, a dynamic test is carried out on PALEO unit cells to determine the fatigue behavior of the manufactured samples.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"62 3 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":"131427821","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}
Thin sheets folded into three dimensional origami structures can be useful in various engineering applications. This work explores the stiffness of deployable origami tubes used as cantilevers. A unique “zipper” configuration is used to couple the tubes, which makes the systems easy to deploy, yet stiff for other deformation modes. The self-restricting geometry of the coupled tubes limits local deformations and makes the systems stiff for out-of-plane loading. The global deployment characteristics are explored using eigenvalue band-gaps, and indicate that tubes with lower sector angles are easy to deploy yet also stiffer for unintended motions. Cantilever analyses show that the geometry of the coupled tubes can significantly affect the stiffness, with some tube combinations having a high orthogonal stiffness throughout deployment, while others only having a high stiffness when fully deployed. Parametric studies are used to show optimal geometries for the coupled tubes that maximize the eigenvalue band-gaps and the stiffness throughout the deployment. The coupled tubes could serve applications such as adjustable robotic arms, and deployable space booms with a reliable extension sequence.
{"title":"Coupled Origami Tubes for Stiff Deployable Cantilevers","authors":"E. Filipov, T. Tachi, G. Paulino","doi":"10.1115/detc2019-97096","DOIUrl":"https://doi.org/10.1115/detc2019-97096","url":null,"abstract":"\u0000 Thin sheets folded into three dimensional origami structures can be useful in various engineering applications. This work explores the stiffness of deployable origami tubes used as cantilevers. A unique “zipper” configuration is used to couple the tubes, which makes the systems easy to deploy, yet stiff for other deformation modes. The self-restricting geometry of the coupled tubes limits local deformations and makes the systems stiff for out-of-plane loading. The global deployment characteristics are explored using eigenvalue band-gaps, and indicate that tubes with lower sector angles are easy to deploy yet also stiffer for unintended motions. Cantilever analyses show that the geometry of the coupled tubes can significantly affect the stiffness, with some tube combinations having a high orthogonal stiffness throughout deployment, while others only having a high stiffness when fully deployed. Parametric studies are used to show optimal geometries for the coupled tubes that maximize the eigenvalue band-gaps and the stiffness throughout the deployment. The coupled tubes could serve applications such as adjustable robotic arms, and deployable space booms with a reliable extension sequence.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"75 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":"131140479","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}
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