In this paper, a 6R linkage suitable as a building block for the construction of large deployable structures is presented. First, we report the possibility of construct an extended 5R Myard linkage by combining two complimentary Bennett linkages. Unlike the original 5R Myard linkage (also called Myard’s “number 1” linkage), the angle of twists in the Bennett linkages is not necessary to be π∕2⁠. Then we show that a 6R linkage can be produced by merging two extended Myard linkages together and removing the common links. The closure equations for the 6R linkage are derived and its motion characteristics are discussed. Moreover, we demonstrate that a number of such 6R linkages can be assembled together to form a large-scale deployable structure, which opens to a flat profile.

Issue Section:
Mechanisms and Robotics
Keywords:
couplings, Bennett linkage, Myard 5R linkage, 6R linkage, closure equation
Topics:
Linkages
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