A new family of deployable mechanisms based on the Hoekens linkage

The paper proposes a family of novel deployable prism mechanisms based on the Hoekens straight-line linkage. The prism can be deployed and compacted in a single dimension. First, a novel planar deployable unit is described, and its kinematics, statics, and singularities are analyzed. The magnification ratio is calculated as a function of the physical size of the links. Then, we describe the possibility and the principles of combining multiple unit mechanisms into a larger deployable mechanism. This process allows the creation of a series of deployable mast units, which are used to design the novel family of deployable prism mechanisms, each with one degree of freedom and an invariable cross section. The best choice of actuator is determined through static analysis and the structural behavior of the mechanism is analyzed by simulation.