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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.7 P.1084-1090


A generalization of Kempe’s linkages

Author(s):  MAO De-can, LUO Yao-zhi, YOU Zhong

Affiliation(s):  Space Structure Research Center, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   luoyz@zju.edu.cn

Key Words:  Double-loop, Kempe&rsquo, s linkages, Transformation matrices, Deployable structures

MAO De-can, LUO Yao-zhi, YOU Zhong. A generalization of Kempe’s linkages[J]. Journal of Zhejiang University Science A, 2007, 8(7): 1084-1090.

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author="MAO De-can, LUO Yao-zhi, YOU Zhong",
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publisher="Zhejiang University Press & Springer",

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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.2007.A1084

T1 - A generalization of Kempe’s linkages
A1 - MAO De-can
A1 - LUO Yao-zhi
A1 - YOU Zhong
J0 - Journal of Zhejiang University Science A
VL - 8
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EP - 1090
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2007.A1084

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&rsquo;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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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[9] Wohlhart, K., 2000. Double-Chain Mechanisms. In: Pellegrino, S., Guest, S.D. (Eds.), IUTAM-IASS Symposium on Deployable Structures: Theory and Applications. Springer.

[10] You, Z., Pellegrino, S., 1997. Foldable bar structures. International Journal of Solids and Structures, 34(15):1825-1847.

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