Reconfigurable deployable frame structure with altmann linkage

Abstract

Disclosed is a reconfigurable deployable frame system based on the Altmann mechanism. The system is capable of transitioning from a closed cylindrical form to a vault shape, then to a planar form, and finally to a collapsible form. This is achieved by combining links, L-shaped connecting elements, and revolute joints.

1 . The invention is a reconfigurable deployable frame system based on an Altmann mechanism, capable of transitioning from a closed cylindrical form to a vaulted form, then to a planar form, and finally to a collapsible form, achieved by combining links, L-shaped connecting elements, and revolute joints. The system comprising:
 inclusion of a scissor structure obtained by associating two links through an intermediate joint hole at the center points with a revolute joint;   inclusion of a scissor mechanism obtained by connecting two scissor structures to each other by means of two L-shaped connecting elements and two revolute joints at adjacent ends of two links with a 90-degree angle between their axes in the X direction;   inclusion of a multiple scissor mechanism obtained by derivating at least two of the mentioned scissor mechanisms in the X direction, resulting in the attachment of at least two sets of adjacent links through intermediate joint holes with revolute joints; and   inclusion of a frame system obtained by derivating at least two of the multiple scissor mechanisms in the Y direction, connecting their adjacent links through intermediate joint holes with revolute joints.   
     
     
         2 . A frame system according to  claim 1 , wherein the revolute joints are used to connect the links to each other in a rotatable manner. 
     
     
         3 . A frame system according to  claim 1 , further comprising terminal joint holes located at the ends of the links and facilitating the attachment of the revolute joints to the L-shaped connecting elements. 
     
     
         4 . A frame system according to  claim 1 , wherein the intermediate joint holes are located on the body of the links between their ends, facilitating the attachment of the revolute joints during the assembly of the multiple scissor mechanisms formed by the links and derivated in the Y direction. 
     
     
         5 . A frame system according to  claim 1 , wherein the L-shaped connecting elements attach the adjacent ends of the links with the revolute joints during the end-to-end assembly of the scissor structure and the scissor mechanism formed by the links in the X direction. 
     
     
         6 . A frame system according to  claim 1 , further comprising connection element holes, one on each edge of the L-shaped connecting element, facilitating the attachment of the revolute joints to the link and the terminal joint holes. 
     
     
         7 . A frame system according to  claim 1 , further comprising large Altmann modules formed by the shared utilization of adjacent links when the scissor mechanisms are assembled end-to-end in the X direction. 
     
     
         8 . A frame system according to  claim 1 , further comprising small Altmann modules formed by the shared utilization of adjacent links when the multiple scissor mechanisms are assembled in the Y direction. 
     
     
         9 . A method for obtaining a reconfigurable deployable frame system based on an Altmann mechanism that transitions from a closed cylindrical form to a vault, then to a planar form, and finally to a collapsible form, comprising:
 attaching a revolute joint to intermediate joint holes at the center points of two links to form a scissor structure;   assembling two of the scissor structures by attaching them end-to-end using terminal joint holes at the adjacent ends of the links, with two revolute joints and L-shaped connecting elements at an angle of 90° between their axes, resulting in a scissor mechanism in the X direction;   forming multiple scissor mechanisms by assembling end-to-end at least two of the scissor mechanisms using terminal joint holes, two revolute joints, and L-shaped connecting elements at an angle of 90° between their axes, also in the X direction; and   obtaining the final frame system by assembling the multiple scissor mechanisms in the Y direction using intermediate joint holes in adjacent links, joined by revolute joints.   
     
     
         10 . A method according to  claim 9 , wherein two scissor mechanisms are attached end-to-end in the X direction. 
     
     
         11 . A method according to  claim 9 , wherein more than two scissor mechanisms attached end-to-end in the X direction. 
     
     
         12 . A method according to  claim 9 , wherein three stacked multiple scissor mechanisms are attached one below the other in the Y direction. 
     
     
         13 . A method according to  claim 9 , wherein more than two stacked multiple scissor mechanisms are attached one below the other in the Y direction.