Advances in Computational Design

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A class of actuated deployable and reconfigurable multilink structures

  • Phocas, Marios C. (Department of Architecture, Faculty of Engineering, University of Cyprus) ;
  • Georgiou, Niki (Department of Architecture, Faculty of Engineering, University of Cyprus) ;
  • Christoforou, Eftychios G. (Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, University of Cyprus)
  • Received : 2020.12.28
  • Accepted : 2022.01.26
  • Published : 2022.07.25
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Abstract

Deployable structures have the ability to shift from a compact state to an expanded functional configuration. By extension, reconfigurability is another function that relies on embedded computation and actuators. Linkage-based mechanisms constitute promising systems in the development of deployable and reconfigurable structures with high flexibility and controllability. The present paper investigates the deployment and reconfigurability of modular linkage structures with a pin and a sliding support, the latter connected to a linear motion actuator. An appropriate control sequence consists of stepwise reconfigurations that involve the selective releasing of one intermediate joint in each closed-loop linkage, effectively reducing it to a 1-DOF "effective crank-slider" mechanism. This approach enables low self-weight and reduced energy consumption. A kinematics and finite-element analysis of different linkage systems, in all intermediate reconfiguration steps of a sequence, have been conducted for different lengths and geometrical characteristics of the members, as well as different actuation methods, i.e., direct and cable-driven actuation. The study provides insight into the impact of various structural typological and geometrical factors on the systems' behavior.

Keywords

Acknowledgement

The research described in this paper was partially supported by the University of Cyprus (Roys Poyiadjis Academic Excellence Graduate Students Scholarship 2018-19).

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