Kinetostatics of Double Planar Linkages

This chapter investigates the kinetostatics of overconstraint spatial mechanisms which are all made of double planar linkages. The mechanism is redundantly constrained in structure and therefore has both merits of high structural stiffness and strength of a truss structure and motion flexibility of a mechanism. The kinetostatics is discussed with the structure synthesis of a deployable wing frame and the lift mechanism. It first discusses the kinematics of double planar linkages with the example of a deployable frame for a morphing wing and then presents a stiffness analysis method of the mechanism with an example of lift mechanism.