Full Content is available to subscribers

Subscribe/Learn More  >

Foldability and Constraint Analysis of Two 3US Parallel Mechanisms

[+] Author Affiliations
Yun Qin, Jian S. Dai

King’s College London, London, UK

Paper No. DETC2012-71052, pp. 659-667; 9 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


Due to advantages of large-span, compact storage and high portability, foldable mechanisms have a promising prospect in aeronautics and astronautics applications. Two configurations of 3US parallel mechanisms with full foldability are constructed and their mobility and motion characteristics are further analyzed. This paper starts from geometrical arrangements of Hooke joints. Aimed at achieving full foldability, Hooke joints axes are placed along opportune directions, and lead to two configurations of 3US parallel mechanisms with anticlockwise folding and clockwise deploying motions. The analytic expression of the deployable ratio is presented and a numerical example is evaluated. This paper then applies constraint analysis in two configurations. In particular, constraint-screw systems of three limbs and those of platforms are investigated, followed by twist systems of platforms being derived as reciprocals of their wrench systems. The similarity and difference of motions allowed by two configurations are further addressed by comparison of their platform twist systems.

Copyright © 2012 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In