Frontiers of Mechanical Engineering >
Eversible duoprism mechanism
Received date: 10 May 2016
Accepted date: 31 May 2016
Published date: 29 Jun 2016
Copyright
In this study, a novel duoprism mechanism that demonstrates a fascinating eversion motion is developed. The mechanism comprises three scalable platforms and nine retractable limbs and is constructed by inserting prismatic and revolute joints into the edges and vertices of the duoprism, respectively. According to mobility and kinematic analyses, the mechanism has five degrees of freedom. Six inputs, including a redundant one, are required to overcome singularity and achieve an eversion motion. In the eversion motion, three platforms expand/contract synchronously, and the mechanism continuously turns inside out. The detailed gaits of eversion motion along an ellipse and a circle after a cycle are illustrated with two examples. A kinematic simulation is conducted, and a manual prototype is fabricated to verify the feasibility of the eversible duoprism mechanism.
Key words: duoprism; eversion motion; singularity; over-constrained
Ruiming LI , Yan-An YAO . Eversible duoprism mechanism[J]. Frontiers of Mechanical Engineering, 2016 , 11(2) : 159 -169 . DOI: 10.1007/s11465-016-0398-6
1 |
Kovács F, Tarnai T, Guest S D,
|
2 |
Hoberman C. US Patent, 4942700, 1990-07-24
|
3 |
Agrawal S K, Kumar S, Yim M. Polyhedral single degree-of-freedom expanding structures: Design and prototypes. Journal of Mechanical Design, 2002, 124(3): 473–478
|
4 |
Hamlin G J, Sanderson A C. Tetrobot: A modular approach to parallel robotics. IEEE Robotics & Automation Magazine, 1997, 4(1): 42–50
|
5 |
Clark P E, Curtis S A, Rilee M L. A new paradigm for robotic rovers. Physics Procedia, 2011, 20: 308–318
|
6 |
Coxeter H S M. Regular Polytopes. New York: Dover Publications, 1973, 124
|
7 |
Stalker R M U S. US Patent, 1997022, <Date>1935-04-09</Date>
|
8 |
Rouse Ball W W, Coxeter H S M. Mathematical Recreations & Essays. 11th ed. New York: Macmillan Company, 1947, 153–154
|
9 |
Fowler P W, Guest S D. A symmetry analysis of mechanisms in rotating rings of tetrahedra. Proceedings: Mathematical, Physical and Engineering Sciences, 2005, 461(2058): 1829–1846
|
10 |
Hong D W, Ingram M, Lahr D. Whole skin locomotion inspired by amoeboid motility mechanisms. Journal of Mechanisms and Robotics, 2009, 1(1): 011015
|
11 |
Festo, Inc. Smart Inversion, 2012,http://www.festo.com/cms/en_corp/12748.htm
|
12 |
Li R, Miao Z, Yao Y,
|
13 |
Hunt K H. Kinematic Geometry of Mechanisms. Oxford: Clarendon Press, 1990, 33–35
|
14 |
Gosselin C, Angeles J. Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation, 1990, 6(3): 281–290
|
15 |
Romdhane L. Design and analysis of a hybrid serial-parallel manipulator. Mechanism and Machine Theory, 1999, 34(7): 1037–1055
|
16 |
Gallardo J, Lesso R, Rico J M,
|
/
〈 | 〉 |