Mobility analysis of the deployable structure of SLE based on screw theory

Scissor-like element has a number of applications in deployable structures such as planar deployable structure (PDS) and ring deployable structure(RDS). However, the mobility analysis of the multi-loop deployable structures is made more difficulty by the traditional mobility formula, because the deployable structure is a very complex structure with multi-loop. Therefore, On the basis of screw theory, the calculation method of mobility of deployable structures of SLE is thoroughly discussed. In order to investigate the mobility, decomposing and composing structures(DCS) are developed, and the basic units are able to be obtained. On the basis of the deployable structures’ geometrical characteristics, there exists a closed-loop quadrilateral structure and some non-closed-loop quadrilateral structures in PDS. Also, a six legs parallel structure is present in RDS. The basic units’ mobility can be solved by both the methods of screw theory and topology constraint graphs. Then, composing the related basic units, the formula of planar deployable structures’ mobility can be built and solves the mobility of ring deployable structure. The analysis method solves the mobility analysis of the multi-loop deployable structures which is difficulty by the traditional method, and plays an important role in further research about the mobility of other complex deployable structures.