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Abstract

This paper studies the planar radially foldable bar structures consisting of more generalized angulated elements (GAEs) that contain intermediate parallelograms. Since every general GAE subtends a constant angle in motion, the mobility of every GAE was discussed. Firstly, the kinematic equation of the system was obtained based on the consistency of the intermediate nodal coordinates. Computing the rank of the kinematic matrix of the equation, the mobility of general type I and II GAEs has been studied in detail. Furthermore, the mobility of the general GAEs bounded by an arbitrary triangle (not limited to isosceles or similar triangles) was discussed. The required condition throughout the motion of the system was given.

Keywords

Kinematics scissor like element linkages kinematic equations

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Mobility analysis of planar radially foldable bar structures

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