Kinematics Analysis of a novel Deployable Inner Support Fixture for Fuel Tank’s Circumferential Girth Welding Process

  • Haiyu WuEmail author
  • Genliang Chen
  • Hao Wang
  • Zhengtao Chen
  • Shunzhou Huan
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a novel circular mechanism of deployable inner support fixture for fuel tank’s circumferential girth welding process. The requirements of high rigidity and folding ratio in the narrow space are fully considered. The proposed support fixture is consisted by eight interlocking basic deployable linkages which can be considered as a 1-PS&1-RPRRR parallel manipulator and fixed to the center drive module. Consequently, the basic deployable linkage is the most important part in this mechanism. For this consideration, the kinematics analysis model is derived through the product of exponential formula (POE). Then, the Jacobian matrix of the basic deployable linkage is derived to define the index of singularity judgement and the workspaces of input joints are analyzed to set the limitation for optimization. Furthermore, a best unfolding trajectory is planned according to the defined transmission performance indices. As a result, a desired trajectory of driven joints is given that can perfectly meet the unfolding motion without singularity configuration.


Deployable linkage Kinematic analysis Transmission index 


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This work is partially supported by National Natural Science Foundation of China (Grant No. 51605300 and 51875334), and the National Science and Technology Major Project of Ministry of Science and Technology of China (2017ZX04005001)


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Haiyu Wu
    • 1
    • 2
    Email author
  • Genliang Chen
    • 1
    • 2
  • Hao Wang
    • 1
    • 2
  • Zhengtao Chen
    • 1
    • 2
  • Shunzhou Huan
    • 3
  1. 1.State Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghaiP.R. China
  2. 2.Shanghai Key Laboratory of Digital Manufacture for Thin-walled StructuresShanghai Jiao Tong UniversityShanghaiP.R. China
  3. 3.Shanghai Aerospace Equipment ManufacturerShanghaiP.R. China

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