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A Network of Type III Bricard Linkages

[+] Author Affiliations
Shengnan Lu

University of Genoa, Genoa, ItalyBeihang University, Beijing, China

Dimiter Zlatanov, Matteo Zoppi

University of Genoa, Genoa, Italy

Xilun Ding

Beihang University, Beijing, China

Simon D. Guest

University of Cambridge, Cambridge, UK

Paper No. DETC2015-47139, pp. V05CT08A043; 9 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


Among Bricard’s overconstrained 6R linkages, the third type has two collapsed configurations, where all joint axes are coplanar. The paper presents a one-degree-of-freedom network of such linkages. Using the two coplanar states of the constituent Bricard units, the network is able to cover a large surface with a specific outline when deployed, and can be folded compactly into a stack of much smaller planar shapes. Five geometric parameters describing each type III Bricard mechanism are introduced. Their influence on the outline of one collapsed configuration is discussed and inverse calculation to obtain the parameter values yielding a desired planar shape is performed. The network is built by linking the units, either using scissor linkage elements, if the thickness of the panels can be ignored, or with hinged parallelograms, for a thicker material. Two case studies, in which the Bricard network deploys as a rectangle and a regular hexagon, respectively, are presented, validating the analysis and design methods.

Copyright © 2015 by ASME
Topics: Linkages



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