Abstract
In this paper we present a dimensional four-position synthesis procedure for an overconstrained 1-DOF spatial linkage that we call the origami-evolved, spherically constrained planar RR chain. The structure is found as a mechanism equivalent of a part of the Miura-ori folding linkage. Studying the geometry of this mechanism equivalent it turns out that it only corresponds to two spherical four-bar linkages that are coupled in a special overconstraining manner. Even though the special characteristic of the coupling is necessary to preserve 1-DOF mobility, there is particular freedom left for the design and synthesis of the linkage. On the one hand it is allowed to use a spherical or either a spatial RR chain when constructing an origami-evolved, spherically constrained RR chain. On the other hand the synthesis of spherical RR dyads becomes available for the design of the spherical wrists.
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Abdul-Sater, K., Irlinger, F., Lueth, T.C. (2015). Four-Position Synthesis of Origami-Evolved, Spherically Constrained Planar RR Chains. In: Kecskeméthy, A., Geu Flores, F. (eds) Interdisciplinary Applications of Kinematics. Mechanisms and Machine Science, vol 26. Springer, Cham. https://doi.org/10.1007/978-3-319-10723-3_7
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DOI: https://doi.org/10.1007/978-3-319-10723-3_7
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Online ISBN: 978-3-319-10723-3
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