Reconfigurable deployable Bricard-like mechanism with angulated elements

Abstract This paper deals with the construction of a novel family of reconfigurable deployable Bricard-like mechanisms with angulated elements (AEs). The reconfigurable dual AEs unit is designed by considering the layers and sizes of links. Then a reconfigurable Bricard-like mechanism composed of three dual AEs units connected by spatial RRR (R denotes revolute) chains is proposed for the first time, which can switch between the prism deployable mode and the Bricard turnover mode through the switching configuration. Further, the extended dual AEs unit is designed by inserting scissor-like elements (SLEs) into the dual AEs unit. Based on extended dual AEs units with different numbers of SLEs, extended reconfigurable Bricard-like mechanisms correspond to four Bricard cases, including the threefold-symmetric case, the general plane-symmetric case, the Wohlhart 6R case, and the general trihedral case, are designed and analyzed. The obtained mechanism can be reassembled by adjusting its number of SLEs to change its size and structure. A prototype of the reconfigurable Bricard-like mechanism is manufactured to verify the construction method. Based on this prototype and some SLEs, four prototypes of extended reconfigurable Bricard-like mechanisms are fabricated and tested.

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