Abstract This paper proposes a new Bricard-like mechanism composed of three anti-parallelogram units. First, the configuration and connection of the Bricard-like mechanism are given. Second, the mechanism is simplified as a spatial single-loop overconstrained 6R mechanism with variable links’ lengths and its Denavit-Hartenberg (D-H) parameters are obtained by identifying the six revolute joints axes. Third, the degree of freedom of the mechanism is calculated through the closure equations, and kinematic paths of output variables are plotted with respect to the input variable. Then, a serial of Bricard-like mechanisms are connected to construct the deployable mechanism. Finally, three prototypes of the Bricard-like mechanism and the triangular prism deployable mechanism composed of four Bricard-like mechanisms are designed and fabricated to verify the feasibility of the proposed method and analysis.

中文翻译：

---

一种具有反平行四边形单元的新的类似 Bricard 的机制

摘要 本文提出了一种由三个反平行四边形单元组成的新的类 Bricard 机制。首先给出了类 Bricard 机制的配置和连接。其次，该机构被简化为具有可变连杆长度的空间单环过约束 6R 机构，其 Denavit-Hartenberg (DH) 参数通过识别六个旋转关节轴获得。第三，通过闭合方程计算机构的自由度，并相对于输入变量绘制输出变量的运动学路径。然后，连接一系列类似 Bricard 的机制以构建可部署机制。最后，