Design and Analysis of Rigid Continuous Deformation Mechanism Based on Heterogeneous Unit

Inspired by the space tessellation structure, this paper presents an innovative rigid continuous deformation mechanism (RCDM) by combining the unique properties of tetrahedron and octahedron shapes. The proposed mechanism exhibits multi degrees of freedom, including expansion, bending, and twisting, creating a continuous deformation surface akin to a flexible mechanism. Furthermore, the resulting deformation surface has high rigidity while easily seamlessly integrating with flexible materials as a supportive structure. Firstly, the structural design of this novel mechanism is introduced. Secondly, the mathematical model of the mechanism is established, analyzing its degree of mobility using the principles of screw theory. A comprehensive kinematics model is constructed to streamline the deformation process alongside a control strategy based on the deformation demand. Finally, a prototype is built to prove the feasibility of the mechanism deformation. The results demonstrate the spatial continuous deformation potential of the proposed mechanism, which holds promise for applications in space capture and morphing skeleton.