Multi-Loop Mechanisms Inspired by Flexible Polyhedrons: Construction and Mobility

Abstract

Abstract. Inspired by flexible polyhedrons, this article proposes a construction method that converts flexible polyhedrons into multi-loop mechanisms. Several multi-loop mechanisms with a single-degree-of-freedom are obtained through this method. To analyze this class of mechanisms, this article applies screw theory to examine the equivalent motions between kinematic chains, which significantly simplifies the steps and computational workload for analyzing complex mechanisms. In this process, methods including structural decoupling and virtual coupling nodes are utilized. The effectiveness and intuitiveness of the methods are demonstrated in the mobility analysis and structural simplification of the Steffen mechanism. Finally, the mobility analysis of the Steffen mechanism inspires a method for constructing flexible polyhedrons with a single or multiple degrees-of-freedom.