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.
CITATION STYLE
Lu, S., Zlatanov, D., Zoppi, M., & Ding, X. (2018). Generalized Construction of Bundle-Folding Linkages. In Springer Proceedings in Advanced Robotics (Vol. 4, pp. 71–79). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-56802-7_8
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