Shape-control in an architectural context is expected to provide unique opportunities for buildings with enhanced functionality, flexibility, energy performance, and occupants comfort. An architectural concept is proposed which consists of a parallel arrangement of planar n-bar mechanisms formulating its skeleton structure and a membrane material stretched over it to define the building envelope. Overall shape changes involve coordinated motion of the individual planar mechanisms. Each linkage is equipped with one motion actuator as well as brakes installed on every joint. Reconfigurations of the building are based on the "effective 4-bar (E4B)" concept allowing stepwise adjustments. Each intermediate step involves the selective locking of (n - 4) joints on each closedloop linkage effectively reducing it to a single degrees-of-freedom (DOF) 4-bar mechanism, the configuration of which can be adjusted using the available motion actuator. A reconfiguration of the mechanism can be realized through alternative control sequences and an optimal one can be selected based on specific criteria. The paper reports the fundamental design and control concepts. A simulation and an experimental study are presented to demonstrate the implementation of the general reconfiguration approach and examine relevant issues.
展开▼
