A tape spring is a thin-walled open cylindrical structure with a natural transverse curvature. The localized folds in the tape spring serve as revolute joints, and the unfolded straight segments serve as links. If an external torque is imposed on a fold, it can slide along the tape spring. Inspired by this, two novel deployable closed-loop tape-spring manipulators with mobile drive components on the folds are proposed. The first one comprises a folded tape spring and two drive components in a V shape. The buckling stability space and the stiffness of the mechanism are investigated, and the boundary equations of the stability space are derived. The deviation angles of the orientation of the moving platform are analyzed. Besides, an improved W-shaped deployable manipulator comprising two V-shaped mechanisms is developed to solve the problem that is a small stochastic deviation angle of the attitude of the platform. The pure translational motion of the manipulator is produced through employing two master motors and one slave motor. Finally, two prototypes are manufactured and subjected to experiments to validate the presented design and analysis.

带簧是具有自然横向曲率的薄壁开口圆柱形结构。带簧中的局部折叠用作旋转接头，展开的直线段用作连杆。如果在折叠上施加外部扭矩，它可以沿着带簧滑动。受此启发，提出了两种新型可展开闭环胶带弹簧机械手，在折叠处具有移动驱动组件。第一个包括一个折叠的磁带弹簧和两个V 形驱动组件形状。研究了机构的屈曲稳定空间和刚度，推导出了稳定空间的边界方程。分析了移动平台方向的偏差角。此外，针对平台姿态随机偏角小问题，研制了一种改进的W型可展开机械臂，包括两个V型机构。机械手的纯平移运动是通过采用两台主电机和一台从电机产生的。最后，制造了两个原型并进行实验以验证所提出的设计和分析。