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    Singularity Avoidance for a Deployable Mechanism Using Elastic Joints

    Source: Journal of Mechanical Design:;2019:;volume( 141 ):;issue: 009::page 94501
    Author:
    Zhang, Tieshan
    ,
    Huang, Hailin
    ,
    Guo, Hongwei
    ,
    Li, Bing
    DOI: 10.1115/1.4042619
    Publisher: American Society of Mechanical Engineers (ASME)
    Abstract: This paper aims at dealing with the deployment vibration problem of the rigid-links deployable mechanism caused by mobility bifurcation. A triangular prismoid deployable mechanism with mobility bifurcation is employed as an example to demonstrate the design and analysis process. First, the mobility of the triangular prismoid deployable mechanism is analyzed, which shows that there exists mobility bifurcation and the possibility of deployment vibration. Second, the revolute joints that introduce mobility bifurcation are analyzed, which shows that they can be replaced by the elastic joints without changing its mobility. Third, a detailed design procedure for this type of elastic joints is discussed; the main parameters of the elastic joints can then be determined based on the mobility and motion range of the deployable mechanism. Physical prototypes of both the rigid-links prismoid deployable mechanism and the corresponding improved mechanism with elastic joints are fabricated, and the deployment experiments of both mechanisms are conducted to show improvement in the latter mechanism.
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      Singularity Avoidance for a Deployable Mechanism Using Elastic Joints

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    contributor authorZhang, Tieshan
    contributor authorHuang, Hailin
    contributor authorGuo, Hongwei
    contributor authorLi, Bing
    date accessioned2019-09-18T09:05:50Z
    date available2019-09-18T09:05:50Z
    date copyright4/18/2019 12:00:00 AM
    date issued2019
    identifier issn1050-0472
    identifier othermd_141_9_094501
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4258814
    description abstractThis paper aims at dealing with the deployment vibration problem of the rigid-links deployable mechanism caused by mobility bifurcation. A triangular prismoid deployable mechanism with mobility bifurcation is employed as an example to demonstrate the design and analysis process. First, the mobility of the triangular prismoid deployable mechanism is analyzed, which shows that there exists mobility bifurcation and the possibility of deployment vibration. Second, the revolute joints that introduce mobility bifurcation are analyzed, which shows that they can be replaced by the elastic joints without changing its mobility. Third, a detailed design procedure for this type of elastic joints is discussed; the main parameters of the elastic joints can then be determined based on the mobility and motion range of the deployable mechanism. Physical prototypes of both the rigid-links prismoid deployable mechanism and the corresponding improved mechanism with elastic joints are fabricated, and the deployment experiments of both mechanisms are conducted to show improvement in the latter mechanism.
    publisherAmerican Society of Mechanical Engineers (ASME)
    titleSingularity Avoidance for a Deployable Mechanism Using Elastic Joints
    typeJournal Paper
    journal volume141
    journal issue9
    journal titleJournal of Mechanical Design
    identifier doi10.1115/1.4042619
    journal fristpage94501
    journal lastpage094501-5
    treeJournal of Mechanical Design:;2019:;volume( 141 ):;issue: 009
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian