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Generalized Construction of Bundle-Folding Linkages

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Advances in Robot Kinematics 2016

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 4))

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Abstract

A mechanism which is able to fold into a bundle is of particular interest: minimal size facilitates storage and transport. The paper presents a simple and general geometric method to design bundle-folding linkages based on one-degree-of-freedom spatial overconstrained loops. The so designed mechanism can be folded into a line bundle and deployed into a spatial shape. The geometric conditions, under which an overconstrained linkage can be folded into a bundle, are discussed. Case studies of bundle-folding designs are presented and validated using simulations.

This research has been supported by the National Science Foundation of China (51635002, 51605011, 51275015).

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Author information

Authors and Affiliations

  1. Beihang University, Beijing, China

    Shengnan Lu & Xilun Ding

  2. University of Genoa, Genoa, Italy

    Dimiter Zlatanov & Matteo Zoppi

Authors
  1. Shengnan Lu
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  2. Dimiter Zlatanov
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  3. Matteo Zoppi
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  4. Xilun Ding
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Corresponding author

Correspondence to Dimiter Zlatanov .

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Editors and Affiliations

  1. Jožef Stefan Institute , Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. INRIA Sophia Antipolis , Sophia Antipolis Cedex, France

    Jean-Pierre Merlet

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Lu, S., Zlatanov, D., Zoppi, M., Ding, X. (2018). Generalized Construction of Bundle-Folding Linkages. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_8

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  • DOI: https://doi.org/10.1007/978-3-319-56802-7_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56801-0

  • Online ISBN: 978-3-319-56802-7

  • eBook Packages: EngineeringEngineering (R0)

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