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Volume 7, Number 3, July 2022 , pages 189-210 DOI: https://doi.org/10.12989/acd.2022.7.3.189 |
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A class of actuated deployable and reconfigurable multilink structures |
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Marios C. Phocas, Niki Georgiou and Eftychios G. Christoforou
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| Abstract | ||
| Deployable structures have the ability to shift from a compact state to an expanded functional configuration. By extension, reconfigurability is another function that relies on embedded computation and actuators. Linkage-based mechanisms constitute promising systems in the development of deployable and reconfigurable structures with high flexibility and controllability. The present paper investigates the deployment and reconfigurability of modular linkage structures with a pin and a sliding support, the latter connected to a linear motion actuator. An appropriate control sequence consists of stepwise reconfigurations that involve the selective releasing of one intermediate joint in each closed-loop linkage, effectively reducing it to a 1-DOF “effective crank–slider” mechanism. This approach enables low self-weight and reduced energy consumption. A kinematics and finite-element analysis of different linkage systems, in all intermediate reconfiguration steps of a sequence, have been conducted for different lengths and geometrical characteristics of the members, as well as different actuation methods, i.e., direct and cable-driven actuation. The study provides insight into the impact of various structural typological and geometrical factors on the systems' behavior. | ||
| Key Words | ||
| deployable structures; effective crank-slider method; finite-element analysis; linkage structures; motion planning; reconfigurable structures element analysis of different linkage systems, in all intermediate reconfiguration steps of a sequence, have been conducted for different lengths and geometrical characteristics of the members, as well as different actuation methods, i.e., direct and cable-driven actuation. The study provides insight into the impact of various structural typological and geometrical factors on the systems | ||
| Address | ||
| Marios C. Phocas: Department of Architecture, Faculty of Engineering, University of Cyprus, 75 Kallipoleos Str., P.O. Box 20537, 1678 Nicosia, Cyprus Niki Georgiou: Department of Architecture, Faculty of Engineering, University of Cyprus, 75 Kallipoleos Str., P.O. Box 20537, 1678 Nicosia, Cyprus Eftychios G. Christoforou: Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, University of Cyprus, 75 Kallipoleos Str., P.O. Box 20537, 1678 Nicosia, Cyprus | ||
