Latest Papers

ASME Journal of Mechanisms and Robotics

    Embedded Linear-Motion Developable Mechanisms on Cylindrical Surfaces

    Abstract

    This study introduces methods for developing embedded straight-line and linear-motion mechanisms on right circular cylinders. Developable surfaces, particularly right circular cylinders, are the manufactured embodiment of many products. Functional linkages are traditionally not geometrically constrained to a body and often dictate the final shape of the housing they reside. This work explores mapping straight-line and linear-motion mechanisms onto cylinders for practical design. Potential applications for when an embedded cylindrical developable mechanism capable of deployment and generation of linear motion would be useful are discussed. An in vivo wiper mechanism to clean obstructed laparoscope lenses during surgery is investigated to physically demonstrate the concepts introduced in the article and to illustrate an example application.

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    Journal of Mechanisms and Robotics Open Issues