Kinematics Approach and Experimental Verification of a Class of Deployable and Reconfigurable Linkage Structures

Abstract

The sustainable development of the built environment is closely related to climate-neutral construction and minimum resources use. In this framework, deployable and reconfigurable building structures offer a promising solution while aiming at reduced self-weight with flexibility and structural efficiency. Nevertheless, commonly developed structural typologies often lead to increased structural weight, complexity, and energy-inefficient operation. The linkage-based systems considered in this work have minimum actuation components, are based on a modular design and the definition of a one-degree-of-freedom mechanism in each transformation step of a reconfiguration sequence from an initial to a target configuration. The effective crank–slider approach was applied on a class of planar eight-bar linkage aluminum structures of different typologies and geometrical characteristics of the members (i.e., simple and hybrid typologies), as well as of variable length. The considered planar structural mechanisms have an overall length of 12.0 m in their initial almost-flat configuration and a respective span of 6.0 m in their specific archlike target configurations. They are supported on a pivot joint on one end and a linear sliding block on the other end, which is associated to the external actuation. In addition, each intermediate joint is equipped with brakes. The simulation of the systems is based on kinematics and a comparative finite-element analysis. The study provides insight into the impact of various geometrical and typological aspects on the systems’ behavior. The experimental implementation of the kinematics approach on a small-scale prototype in different typologies demonstrates its feasibility and highlights practical implementation issues.