Abstract This paper deals with the construction of a novel family of reconfigurable deployable Bricard-like mechanisms with angulated elements (AEs). The reconfigurable dual AEs unit is designed by considering the layers and sizes of links. Then a reconfigurable Bricard-like mechanism composed of three dual AEs units connected by spatial RRR (R denotes revolute) chains is proposed for the first time, which can switch between the prism deployable mode and the Bricard turnover mode through the switching configuration. Further, the extended dual AEs unit is designed by inserting scissor-like elements (SLEs) into the dual AEs unit. Based on extended dual AEs units with different numbers of SLEs, extended reconfigurable Bricard-like mechanisms correspond to four Bricard cases, including the threefold-symmetric case, the general plane-symmetric case, the Wohlhart 6R case, and the general trihedral case, are designed and analyzed. The obtained mechanism can be reassembled by adjusting its number of SLEs to change its size and structure. A prototype of the reconfigurable Bricard-like mechanism is manufactured to verify the construction method. Based on this prototype and some SLEs, four prototypes of extended reconfigurable Bricard-like mechanisms are fabricated and tested.

中文翻译：

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具有角度元件的可重构可部署机构

摘要 本文涉及构建具有角度元件 (AEs) 的新型可重构可部署 Bricard 类机构。可重构双AEs单元的设计考虑了链路的层数和大小。然后首次提出了一种由空间RRR（R表示旋转）链连接的三个双AE单元组成的可重构Bricard类机制，该机制可以通过切换配置在棱镜可部署模式和Bricard翻转模式之间切换。此外，扩展的双 AE 单元是通过将剪刀状元件 (SLE) 插入双 AE 单元来设计的。基于具有不同 SLE 数量的扩展双 AEs 单元，扩展的可重构 Bricard-like 机制对应四种 Bricard 情况，包括三重对称情况、一般平面对称情况、设计和分析了 Wohlhart 6R 情况和一般三面体情况。获得的机制可以通过调整其 SLE 的数量来重新组装，以改变其大小和结构。制造了可重构布里卡德式机构的原型，以验证构造方法。基于这个原型和一些 SLE，制造和测试了四个扩展可重构 Bricard 类机制的原型。