A rotational joint is introduced for use in shape morphing or deployable space truss structures. The joint is a chain mechanism comprising up to six pivoted linkages that provide a compact mechanism for the connection of up to six structures at a node. The total number of degrees of freedom for a constrained joint mechanism with six links is found. A closed chain model is then used to determine the angle between the adjacent links as the structure is changed during shape morphing. The limiting pivot rotation angle is established by physical interference and is determined for a model problem.
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Sofla et al. (2007) studied this question.
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