Abstract Two-layer and two-loop deployable linkages with coupling chains are new deployable units developed in the past two years for constructing umbrella-shaped deployable mechanisms. However, a method for kinematics analysis of the class of linkages has not been established, which leads to the problem that further performance analysis and dimensional design of them have not been performed. In this paper, first, the remaining new two-layer and two-loop deployable linkage units are systematically synthesized. Moreover, a general method is developed for kinematic analysis of all kinds of those units based on their structural characteristics and motion characteristics. In addition, the complexity of kinematics analysis of those linkage units is evaluated. Such a method lays a key foundation for dynamics analysis, dimensional design and structure optimization of two-layer and two-loop deployable linkage units and umbrella-shaped deployable mechanisms based on those units.

中文翻译：

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带耦合链的两层两环可展开连杆运动学分析的通用方法

摘要 带有耦合链的二层二环可展开联动装置是近两年为构建伞形可展开机构而开发的新型可展开单元。但是，对于该类连杆的运动学分析方法还没有建立，这就导致了对它们的进一步性能分析和尺寸设计没有进行的问题。在本文中，首先系统地综合了剩余的新的两层两环可展开联动单元。此外，还开发了一种通用方法，用于基于这些单元的结构特性和运动特性对其进行运动学分析。此外，还评估了这些连杆单元的运动学分析的复杂性。这种方法为动力学分析奠定了关键基础，