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Motion Planning for Shape–Controlled Adaptable Buildings Resembling Topologically Closed–Loop Robotic Systems

[+] Author Affiliations
Eftychios G. Christoforou, Marios C. Phocas

University of Cyprus, Nicosia, Cyprus

Andreas Müller

Institute of Mechatronics, Chemnitz, Germany

Paper No. DETC2012-70177, pp. 997-1006; 10 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


Shape–controlled adaptable building structures have a potential of superior performance and flexibility compared to traditional fixed–shape ones. A building concept is proposed consisting of a number of interconnected planar n–bar linkages performing coordinated motions thus resembling a system of cooperating closed–loop robotic manipulators. For shape control an “effective 4–bar” linkage concept is proposed. That is, each individual n–bar mechanism is equipped with one motion actuator, and at any time of motion its degrees–of–freedom are reduced to one through the selective locking of (n – 4) joints using brakes. Shape adjustments of the overall structure can be carried out through appropriate control sequences where in each step exactly four joints of each linkage are unlocked giving rise to an effective 4–bar system. Motion planning is considered together with the relevant limitations arising from singular configurations that need to be taken into account. The concept is demonstrated through simulation examples.

Copyright © 2012 by ASME



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