This paper, for the first time, presents an overconstrained spatial eight-bar linkage and its application to the synthesis of a group of Fulleroid-like deployable platonic mechanisms. Structure of the proposed eight-bar linkage is introduced, and constrain and mobility of the linkage are revealed based on screw theory. Then by integrating the proposed eight-bar linkage into platonic polyhedron bases, synthesis of a group of Fulleroid-like deployable platonic mechanism is carried out; which is demonstrated by the synthesis and construction of a Fulleroid-like deployable tetrahedral mechanism. Further, mobility of the Fulleroid-like deployable platonic mechanisms is formulated via constraint matrices by following Kirchhoff’s circulation law for mechanical networks, and kinematics of the mechanisms is presented with numerical simulations illustrating the intrinsic kinematic properties of the group of Fulleroid-like deployable platonic mechanisms. In addition, a prototype of the Fulleroid-like deployable spherical-shape hexahedral mechanism is fabricated and tested; verifying the mobility and kinematic characteristics of the proposed deployable polyhedral mechanisms. Finally, application of the proposed deployable platonic mechanisms is demonstrated in the development of a transformable quadrotor. This paper hence presents a novel overconstrained spatial eight-bar linkage and a new geometrically intuitive method for synthesising Fulleroid-like regular deployable polyhedral mechanisms that have great potential applications in deployable, reconfigurable and multifunctional robots.

中文翻译：

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类似 Sarrus 的过度约束八杆连杆机构及其相关的类似富勒莱德的柏拉图可展开机制

本文首次提出了一种过度约束的空间八杆连杆机构及其在合成一组类似富勒体的可展开柏拉图机构中的应用。介绍了所提出的八连杆机构的结构，并基于螺杆理论揭示了连杆的约束和活动性。然后通过将提出的八连杆机构集成到柏拉图多面体基础上，合成一组类似富勒体的可展开柏拉图机构；这通过合成和构建类似富勒体的可展开四面体机制来证明。此外，通过遵循机械网络的基尔霍夫循环定律，通过约束矩阵来制定类似 Fulleroid 的可展开柏拉图机制的移动性，和机构的运动学通过数值模拟呈现，说明了类似富勒体的可展开柏拉图机构组的内在运动学特性。此外，制作并测试了类富勒体可展开球形六面体机构的原型；验证所提出的可部署多面体机构的机动性和运动学特性。最后，在可变形四旋翼飞行器的开发中展示了所提出的可部署柏拉图式机制的应用。因此，本文提出了一种新的过约束空间八杆连杆机构和一种新的几何直观方法，用于合成类似 Fulleroid 的规则可展开多面体机构，在可展开、可重构和多功能机器人中具有巨大的潜在应用。