Limits of extramobile and intramobile motion of cylindrical developable mechanisms

Jared Butler, Jacob Greenwood, Larry L. Howell, Spencer Magleby

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


Mechanisms that can both deploy and provide motions to perform desired tasks offer a multifunctional advantage over traditional mechanisms. Developable mechanisms (DMs) are devices capable of conforming to a predetermined developable surface and deploying from that surface to achieve specific motions. This paper builds on the previously identified behaviors of extramobility and intramobility by introducing the terminology of extramobile and intramobile motions, which define the motion of developable mechanisms while interior and exterior to a developable surface. The limits of motion are identified using defined conditions. It is shown that the more difficult of these conditions to kinematically predict may be treated as a non-factor during the design of cylindrical developable mechanisms given certain assumptions. The impact of toggle positions for each case is discussed. Physical prototypes demonstrate the results.

Original languageEnglish (US)
Article number011024
JournalJournal of Mechanisms and Robotics
Issue number1
StatePublished - Feb 2021

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


Dive into the research topics of 'Limits of extramobile and intramobile motion of cylindrical developable mechanisms'. Together they form a unique fingerprint.

Cite this