Frontiers of Mechanical Engineering
>> 2020,
Volume 15,
Issue 1
doi:
10.1007/s11465-019-0567-5
RESEARCH ARTICLE
Novel method of constructing generalized Hoberman sphere mechanisms based on deployment axes
. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.. Robotics Institute, Beihang University, Beijing 100191, China
Accepted: 2019-12-11
Available online: 2019-12-11
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Abstract
This study proposes a method of constructing type II generalized angulated elements (GAEs II) Hoberman sphere mechanisms on the basis of deployment axes that intersect at one point. First, the constraint conditions for inserting GAEs II into deployment axes to form a loop are given. The angle constraint conditions of the deployment axes are obtained through a series of linear equations. Second, the connection conditions of two GAEs II loops that share a common deployable center are discussed. Third, a flowchart of constructing the generalized Hoberman sphere mechanism on the basis of deployment axes is provided. Finally, four generalized Hoberman sphere mechanisms based on a fully enclosed regular hexahedron, arithmetic sequence axes, orthonormal arithmetic sequence axes, and spiral-like axes are constructed in accordance with the given arrangement of deployment axes that satisfy the constraint conditions to verify the feasibility of the proposed method.
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