Eversible duoprism mechanism

doi:10.1007/s11465-016-0398-6

Front. Mech. Eng.

2016, Vol. 11

Issue (2) : 159-169 https://doi.org/10.1007/s11465-016-0398-6

RESEARCH ARTICLE

Eversible duoprism mechanism

Ruiming LI,Yan-An YAO(

)

School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

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Abstract

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.

Keywords duoprism eversion motion singularity over-constrained

Corresponding Author(s): Yan-An YAO

Online First Date: 20 June 2016 Issue Date: 29 June 2016

Cite this article:

Ruiming LI,Yan-An YAO. Eversible duoprism mechanism[J]. Front. Mech. Eng., 2016, 11(2): 159-169.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-016-0398-6
https://academic.hep.com.cn/fme/EN/Y2016/V11/I2/159

Fig.1 3-3 duoprism and duoprism mechanism. (a) Schlegel diagram of 3-3 duoprism; (b) duoprism mechanism

Fig.2 Hybrid 3-RPR mechanism. (a) General configuration; (b) singular configuration

Fig.3 Self-crossing locomotion of the hybrid 3-RPR mechanism. (a) Initial state; (b) contraction of Platform B; (c) coplanar state; (d) expansion of Platform B; (e) final state

Fig.4 Schematic of the duoprism mechanism. (a) Schematic of the mechanism; (b) simplified planar mechanism

Fig.5 Singularity of the duoprism mechanism

Fig.6 Multi-slider and crank mechanism

Fig.7 Kinematic diagram of the duoprism mechanism

Fig.8 Flow chart of solving Z O B , Z O C , and d_CA

Fig.9 Four possible solutions for the forward kinematics

Fig.10 Equivalent planar mechanism of the duoprism mechanism in eversion motion along an ellipse

Fig.11 Expansion of a scalable platform

Fig.12 Eversion motion gaits along an ellipse. (a) ωt=0; (b) ωt=π/4; (c) ωt=π/2; (d) ωt=3π/4; (e) ωt=π; (f) ωt=5π/4; (g) ωt=3π/2; (h) ωt=7π/4

Fig.13 Length curves of L_A, L_B, L_C, d_AB, d_BC, and d_CA

Fig.14 Equivalent planar mechanism of the duoprism mechanism in eversion motion along a circle

Fig.15 Eversion motion gaits along a circle. (a) ωt=0; (b) ωt=π/6; (c) ωt=π/3; (d) ωt=π/2; (e) ωt=2π/3; (f) ωt=5π/6; (g) ωt=π; (h) ωt=7π/6; (i) ωt=4π/3; (j) ωt=3π/2; (k) ωt=5π/3; (l) ωt=11π/6

Fig.16 Length curves of L_A, L_B, and L_C

Fig.17 Simulation gaits of eversion motion along a circle. (a) ωt=0; (b) ωt=p/3; (c) ωt=2p/3; (d) ωt=p; (e) ωt=4p/3; (f) ωt=5p/3

Fig.18 Singular configuration of the prototype

Fig.19 Explosion view of a compound revolute joint node

Fig.20 Eversion motion along a circle. (a) ωt=0; (b) ωt=p/3; (c) ωt=2p/3; (d) ωt=p; (e) ωt=4p/3; (f) ωt=5p/3

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