Mobile assemblies based on the Bennett linkage

This paper presents a method of building large mobile assemblies using the Bennett linkage. The method is based on a basic single-layer layout consisting of overlapping 4 R loops, each of which is a Bennett linkage. The assemblies created have a single degree of freedom, and are overconstrained and scaleable, allowing unlimited extension by repetition. In general, they deploy into a circular or non-circular cylindrical profile. The joints of the assemblies move spirally on the surface during deployment. Under some particular geometrical conditions, the profiles of the assemblies can become arch-like or flat. Moreover, the single-layer assemblies can be extended to form multi-layer mechanisms, even mobile masts. The paper shows the great versatility of the Bennett linkage and demonstrates that the century-old invention can play an important role in the construction of deployable structures.

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Symmetric waterbomb origami

Proceedings of The Royal Society A Mathematical Physical and Engineering Sciences ◽

10.1098/rspa.2015.0846 ◽

2016 ◽

Vol 472 (2190) ◽

pp. 20150846 ◽

Cited By ~ 32

Author(s):

Yan Chen ◽

Huijuan Feng ◽

Jiayao Ma ◽

Rui Peng ◽

Zhong You

Keyword(s):

Degrees Of Freedom ◽

Degree Of Freedom ◽

Solar Panels ◽

Deployable Structures ◽

Single Degree Of Freedom ◽

Folding Process ◽

Multiple Degrees Of Freedom ◽

Single Degree ◽

Flat Roofs ◽

Additional Constraints

The traditional waterbomb origami, produced from a pattern consisting of a series of vertices where six creases meet, is one of the most widely used origami patterns. From a rigid origami viewpoint, it generally has multiple degrees of freedom, but when the pattern is folded symmetrically, the mobility reduces to one. This paper presents a thorough kinematic investigation on symmetric folding of the waterbomb pattern. It has been found that the pattern can have two folding paths under certain circumstance. Moreover, the pattern can be used to fold thick panels. Not only do the additional constraints imposed to fold the thick panels lead to single degree of freedom folding, but the folding process is also kinematically equivalent to the origami of zero-thickness sheets. The findings pave the way for the pattern being readily used to fold deployable structures ranging from flat roofs to large solar panels.

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Single-Degree-of-Freedom Rigidly Foldable Origami Flashers

Volume 5B: 39th Mechanisms and Robotics Conference ◽

10.1115/detc2015-46961 ◽

2015 ◽

Cited By ~ 3

Author(s):

Robert J. Lang ◽

Spencer Magleby ◽

Larry Howell

Keyword(s):

Degree Of Freedom ◽

Deployable Structures ◽

Single Degree Of Freedom ◽

Single Degree ◽

Revolute Joints

We present the design for a family of deployable structures based on the origami flasher that are rigidly foldable, i.e., foldable with revolute joints at the hinges and planar rigid faces, and that exhibit a single degree of freedom in their motion. These structures may be used to realize highly compact deployable mechanisms.

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Single Degree-of-Freedom Rigidly Foldable Cut Origami Flashers

Journal of Mechanisms and Robotics ◽

10.1115/1.4032102 ◽

2016 ◽

Vol 8 (3) ◽

Cited By ~ 28

Author(s):

Robert J. Lang ◽

Spencer Magleby ◽

Larry Howell

Keyword(s):

Degree Of Freedom ◽

Deployable Structures ◽

Single Degree Of Freedom ◽

Single Degree ◽

Revolute Joints

We present the design for a family of deployable structures based on the origami flasher, which are rigidly foldable, i.e., foldable with revolute joints at the creases and planar rigid faces. By appropriate choice of sector angles and introduction of a cut, a single degree-of-freedom (DOF) mechanism is obtained. These structures may be used to realize highly compact deployable mechanisms.

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