A generalization of Kempe’s linkages  

作　　者：MAO De-can LUO Yao-zhi YOU Zhong 

机构地区：[1]Space Structure Research Center, Zhejiang University, Hangzhou 310027, China [2]Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ, UK

出　　处：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》2007年第7期1084-1090,共7页浙江大学学报（英文版）A辑（应用物理与工程）

基　　金：Project supported by the National Natural Science Foundation of China (No. 50638050);the Research Foundation for the Doctoral Program of Higher Education of China (No. 20050335097)

摘　　要：A new, general type of planar linkages is presented, which extends the classical linkages developed by Kempe consisting of two single-looped kinematic chains of linkages, interconnected by revolute hinges. Together with a locking device, these new linkages have only one degree of freedom (DOF), which makes them ideal for serving as deployable structures for different purposes. Here, we start with a fresh matrix method of analysis for double-loop planar linkages, using 2D transformation matrices and a new symbolic notation. Further inspection for one case of Kempe’s linkages is provided. Basing on the inspection, by means of some novel algebraic and geometric techniques, one particularly fascinating solution was found. Physical models were built to show that the derivation in this paper is valid and the new mechanisms are correct.A new, general type of planar linkages is presented, which extends the classical linkages developed by Kempe consisting of two single-looped kinematic chains of linkages, interconnected by revolute hinges. Together with a locking device, these new linkages have only one degree of freedom （DOF）, which makes them ideal for serving as deployable structures for different purposes. Here, we start with a fresh matrix method of analysis for double-loop planar linkages, using 2D transformation matrices and a new symbolic notation. Further inspection for one case of Kempe＇s linkages is provided. Basing on the inspection, by means of some novel algebraic and geometric techniques, one particularly fascinating solution was found. Physical models were built to show that the derivation in this paper is valid and the new mechanisms are correct.

关 键 词：Double-loop Kempe＇s linkages Transformation matrices Deployable structures 

分 类 号：TU2[建筑科学—建筑设计及理论] TU3