Inspired by the existing closed-loop deployable mechanisms and parallel mechanisms, a new kind of mechanisms, named deployable parallel mechanisms, is introduced in this paper, and the kinematic analysis is presented. As the combination of deployable mechanisms and parallel mechanisms, deployable parallel mechanisms have advantages of both the two kinds of mechanisms. They can be easily constructed by origami and folded from spatial structures into paper slices. Due to the parallel structures, they can be designed to have higher stiffness and larger volume compressibility than the existing deployable mechanisms. Thus, deployable parallel mechanisms have tremendous potential to be applied in the design of spatial solar panels, elastic reconfigurable robotic modules, etc. With reference to the kinematic analysis of parallel mechanisms, a finite and instantaneous screw method for kinematics of deployable parallel mechanisms is proposed, which is a generic method that is suitable for displacement and velocity modeling and analysis of any deployable parallel mechanism. A typical mechanism with symmetrical structure is taken as an example to show the validity of the proposed method, and simulation and experiment are carried out to verify the obtained results of kinematics. This paper puts forth the basic concepts of deployable parallel mechanisms and lays a theoretical foundation for their kinematic modeling and analysis.

中文翻译：

---

可展开并联机构的运动学分析

受现有闭环可展开机构和并联机构的启发，本文介绍了一种新型机构——可展开并联机构，并进行了运动学分析。作为可展开机构与并联机构的结合，可展开并联机构兼具两种机构的优点。它们可以通过折纸轻松构建，并从空间结构折叠成纸片。由于平行结构，它们可以设计成比现有的可展开机构具有更高的刚度和更大的体积压缩性。因此，可展开并联机构在空间太阳能电池板、弹性可重构机器人模块等设计中具有巨大的应用潜力。 参考并联机构的运动学分析，提出了一种用于可展开并联机构运动学的有限瞬时螺旋法，该方法是适用于任何可展开并联机构的位移和速度建模和分析的通用方法。以具有对称结构的典型机构为例，证明了所提出方法的有效性，并通过仿真和实验验证了所得到的运动学结果。提出了可展开并联机构的基本概念，为其运动学建模和分析奠定了理论基础。以具有对称结构的典型机构为例，证明了所提出方法的有效性，并通过仿真和实验验证了所得到的运动学结果。提出了可展开并联机构的基本概念，为其运动学建模和分析奠定了理论基础。以具有对称结构的典型机构为例，证明了所提出方法的有效性，并通过仿真和实验验证了所得到的运动学结果。提出了可展开并联机构的基本概念，为其运动学建模和分析奠定了理论基础。