6 - Nexorade - Parigi - Sassone - 2010 - The - Design - of - A - Planar Kinetic - Reciprocal - Frame

Proceedings of the International Association for Shell and Spatial Structures (IASS) Symposium 2010, Shanghai
Spatial Structures Permanent and Temporary

November 8-12 2010, Shanghai, China
The design of a planar Kinetic Reciprocal Frame

Dario PARIGI1*, Mario SASSONE2
1*
Ph.D. student in Architecture and Building Design, Politecnico di Torino
Viale Mattioli 39, I-10125 Torino, Italy
dario.parigi@polito.it
2
Assistant professor, Dep.of Structural and Geotechnical Eng., Politecnico di Torino
Abstract
In this paper is presented the project of a high-tech planar Kinetic Reciprocal
Frames. Reciprocal frame structures are based on the geometric configurations studied
in the past by Leonardo da Vinci. These structures, particularly interesting for their
potential in architectural applications, features kinematic properties which differs from
the more common pin-joint assemblies, because bars joins not only in the end but also
in intermediate points.
While recent applications in architecture seem to emphasize the simplicity and the
naiveness of this kind of construction, trough timber construction, for instance, we are
firmly convinced that RF can be of interest when approached in more technological
way. Our research is then specifically oriented to Kinetic Reciprocal Frames (KRF), in
which a high tech construction can improve consistently the performances, allowing the
design of innovative structures. Kinetic structures as KRF can be a powerful design
solution for example to meet the complex requirements of time-depending performances
in green buildings like the light control in roofs and facades.
The project presented is the result of two distinct but intertwined phases: the analytical
phase, dedicated to the definition of the problem from the mathematical point of view;
and the prototyping phase, dedicated to the validation and extension of the analysis with
the use of physical models.
Keywords: reciprocal frames, kinetic structures
1.Introduction
Reciprocal frames (RF) and multiple reciprocal frames (MRF) are structures composed
by mutually supported elements, arranged to form, respectively, one or more closed
circuits of forces [1]. They differ from better known truss assemblies because bars, in
RF and MRF, join to each other not only at the ends but even at intermediate points.
There are many examples of structures conceived following the reciprocity principle,
starting from the technique adopted in Japan by the monk Chogen (1121-1206), for the
construction of temples. In Europe, during Middle Age, a Plane Reciprocal Frame (PRF)
have been proposed for building the floor of big rooms using short beams, as described
by the medieval architect Villard de Honnecourt (1225-1250). The wider and most
[4]: he
explored various patterns of beams grillages (Figure 1, Figure 2), and studied three
dimensional arch structures for domes and bridges, in which short elements are
supported by each others. Starting from Honnencourt's work, Sebastiano Serlio in 1537
first introduced a multiple plane reciprocal frame (MPRF) as a general solution for the
construction of large floor by means of short elements simply supported to each other.
A complete historical overview on ancient and contemporary realisations can be found
in Rizzuto et al.[7].
Figure 1 sketch and scheme Figure 2 sketch and scheme

1.1 Towards Kinetic Reciprocal Frame
One main feature of Reciprocal frames is that bars joins not only in the ends but also in
intermediate points. This feature suggest that intermediate points position can vary
through the length of the supporting bars, thus a sliding hinge can be placed instead of a
rotational hinge. For example in the fan of Figure 3 rotational hinges are substituted
with sliding hinges: the structure turns then from kinematically determinate to
kinematically indeterminate (Figure 4): the relative motion between bars is allowed
because bars can slide into one another.
If the kinematic understanding of single fan can be easily predicted, the behaviour of
network needs a more complete algebraic formulation [6]. One first indication of the
behaviour is given by the degrees of freedom (DOF) of the structure: in the following
paragraph is presented the scheme to build the kinematic matrix, and the relation of its
rank with the DOF.
Figure 3 Figure 4
2. The kinematic determinacy of Reciprocal Frames networks
The degrees of freedom of a structure are the number of independent parameters

required to completely specify the configuration of the mechanism [9]. It is equal to the
degrees of freedom of all the moving bodies diminished by the degrees of constraints
imposed by all the joints. In two dimension the relation is:
m= 3*b-c (1)
where b is the total number of bodies, c is the number of degrees of constraints, and m is
the number of the resulting degrees of freedom. However, as it is well known [6],
equation (1) is not sufficient to determine the DOF of a structure: it is necessary to
introduce the rank r of the kinematic matrix and the expression (1) is substituted with
expression (2) :
m= 3*b-r (2)
In the next paragraph an algorithm for the construction of the kinematic matrix of
reciprocal frames is introduced.
2.1 Kinematic matrix of RF

The analysis of the equilibrium matrix and its transpose the kinematic matrix gives us
the full details of any state of self stress and modes of inextensional deformation that the
assembly may possess, as shown by the work by Pellegrino and Calladine carried on
pin-joint frameworks [6] [8]. However, the more convenient way to model reciprocal
frames is as a rigid body assembly, given the need of modelling the forces carried by the
bars in intermediate point of the bars and not only in the joints as occur in pin-joint
assemblies. As a result, the sets of variables of the kinematic matrix varies according to
this scheme:
A[coefficient of the kinematic matrix]*[set1]=[set2]

Pin-joint assemblies Rigid bodies assemblies
set 1= node displacement vector set 1= bar dispolacement vector
set 2= elongation of the bars set2= node displacement vector
2.2 The kinematic matrix construction scheme

For any rigid body in a two dimensional space assembly it is possible to write the
kinematic equations with the use of three generalized coordinates for every rigid body
(three is minimum number of coordinates to describe the position in the space of rigid
bodies), and represent the displacements of a reference point. If the topology of the net
is regular, the kinematic equations can be written by an algorithm that calculates the
node displacement from the Cartesian coordinates of the assembly [5].
The system of equation take the following form in the matrix notation:
; (1)
where A is the coefficient matrix, s is the number of external and internal constraints, b
is the number of rigid bodies of the assembly, D is the generalized coordinates vector, n
is the vector of node displacement.
The generalized coordinates are ordered in the D vector
(2)
(3)
3 Case study: Kinetic Reciprocal Frame

The Kinetic Reciprocal Frame (KRF) here presented is a periodic regular structure in
which all fans change their position with a single degree of freedom. The structure
moves from the position of
Figure 5 to the position of Figure 6 while fans slides on one another. It is based on a
reciprocal frame unit of

Figure 6 , composed by 18 bars, then simplified accordingly to the scheme of Figure 8.
Figure 5
Figure 7 Figure 8
Figure 6
The project is the result of two intertwined phases: the analytical phase, dedicated to the
definition of the problem from the geometrical point of view; the testing phase,
dedicated to the validation with the use of prototypes. The mechanism is actuated by the
rotation of one of the fan in the net (Figure 9) and its behaviour remains the same
independently from the number of fans repeated in the pattern. As a reaction to the
driving rotation, every fan rotate around its centre, where the three bars converges.
Figure 9
The one degree of freedom configuration carries the advantage of an energy efficient
actuation: the pattern can be actuated by a single motor, reducing the costs: it can also
be placed in anyone of the fan of the assembly, allowing to adapt to different design
requirements.
3.1 The parametric definition of the structure
The structure of
Figure 10 is drawn by means of Cartesian coordinates. The position of every bar is

defined by a point (x,y) and and angle . i
j
Figure 10 ij k Figure 11). To every bar of the
k
repetitive rules or randomly or the two combined (Figure 12). The coordinates of the
contact nodes are obtained by calculating the intersection of the bars given the starting
point A and B and the angle of the bars and (Figure 13). The drawing of the
structure by means of Cartesian coordinates allows to set up the algorithm for the
automatic construction of the kinematic matrix [5]. From the kinematic matrix rank is it
possible to test the degrees of freedom of the structure while comparing the results with
the built prototypes.
j j+1
k+4
k+5
i+1
k+3
k
i k+2
k+1
Figure 11 -
Figure 10 -
A (x,y)
B (x,y)
Figure 13
Figure 12 Parametric angles (Matlab) cartesian coordinates of the nodes
3.2 The kinematic matrix

It is possible to build the kinematic matix of the assembly by taking advantage of the
parametric construction of the pattern. Through the use of the Cartesian coordinates of
every point it is possible to write iteratively the constraints equations of the pattern.
The displacement of the nodes of every fan is expressed through the generalized
coordinates [5], so as to have the minimum number of unknowns. The kinematic matrix
will allow in the next stages allow to determine the DOF of the network and to make
further consideration on the kinematic behaviour [6].
3.2 The geometrical description of the network

The shape of the fans that forms the network were simplified in the previous paragraphs
to a three straight arms fan. However, the kinematic property of the pattern depends on
the curved shape of the arms (Figure 16). We consider the rotation of Bar 1 and Bar 2
of the same angle , while the Bar 1 slides on Bar 2
more coincident with Bar 2 ( Figure 14). Bar 2

needs to have a shape that allows to span the distance marked after the rotation. The
shape is obtained by rotating the point A around the hinge of Bar 2 by the same angle
that describe its position relative to hinge of Bar 1 (Figure 15). By repeating the process
for every bar in the fan we obtain the configuration of Figure 17.
A’
A’
A’ 1
2
A
1 Figure 15
Figure 14
Figure 17
Figure 16
3.3 The role of prototyping
A first straw prototype showed that the fans assembled in the unit of Figure 19 were not
able to rotate to the position of

Figure 20 unless by applying a force that caused a deformation in the flexible elements.
This kinematic behaviour detects in fact the need of the fans to have curved arms
instead of straight ones. This prototype made also clear that the external constraints
could be reduced: the rotational hinges, placed at the center point of every fan when the
three arms joins, can be cut by half in an alternate pattern as by Figure 18.
3.3.1 Prototype details description

The prototype (Figure 21, Figure 22) was built through the use of a laser cutter machine.
The pieces are shaped with a small tolerance that allows to diminish the friction
between the elements during the motion, but in the same time to avoid a loose
mechanism, in which the movements between each elements is transmitted with a delay.
The prototype motion is actuated by a servo motor controlled by an Arduino board. The
servo motor angle is a function of the light sensor: this allows to demonstrate intuitively
the motion by simply shading with the hand the sensor area, and moreover suggest an
application of the structure as a mechanism for the light control for roofs and facades.
External constraints Reduntant external constraints
Figure 18
Figure 19 Figure 20
Figure 21 Figure 22
4 Possible applications and future developments.

The structure has the property of changing the relative areas of the sectors during the
deployment phase. As a consequence, by covering with opaque and transparent
membranes the different sectors it is possible to obtain a mechanism for the light control
in facades and roofs (Figure 23, Figure 24
Figure 23 Figure 24
5 Conclusion
The paper describes in detail the process used to design a kinetic reciprocal frames
network, from the geometrical description to the prototype testing.
The one-degree of freedom configuration allows applications that features an energy
efficient actuation (inextensional mechanisms are activated by a single actuator). The
presented pattern can be extended indefinitely in both directions maintaining the same
kinematic behaviour, allowing to span even non-regular areas.
The next steps are directed to design non-regular patterns removing any type of
symmetry by a further generalization of the problem, and then to apply the results in
three dimensional ones.
References
[1] Di Carlo B, The wooden roofs of Leonardo and New Structural Research. Nexus
Journal, 2008; 10:27-38.
[2] Garcia de Jalon, J, Bayo E, Kinematic and Dynamic Simulation of Multybody
Systems, the Reat-Time Challenge, Springer-Verlag, New York, 1994
[3] Kirkegaard PH, RK Nielsen S, MBS Analysis of Kinetic Structures using ADAMS,
proceedings of the IASS- International Symposium, Valencia, 2009.
[4] Marinoni A, Il Codice Atlantico della Biblioteca Ambrosiana, Giunti, Firenze,
2000
[5] Parigi D, Sassone M, Napoli P. 2009. Kinematic and static analysis of plane
reciprocal frames, proceedings of the IASS- International Symposium, Valencia,
2009.
[6] Pellegrino S, Calladine C R. Matrix analysis of Statically and Kinematically
Indeterminate Frameworks. International Journal of Solids and Structures, 1986;
22: 409-428.
[7] Rizzuto J, Saidani M, Chilton J, Multi-reciprocal element (MRE) space structure
systems, Space Structures 5, 2002; Telford ed.
[8] Strang G., Linear Algebra and its applications, Thomson Brooks/Cole, Belmont,
CA , 2006
[9] Tsai, L.-W. (2001). Mechanism design: enumeration of kinematic structures
according to function. CRC Press.

6 - Nexorade - Parigi - Sassone - 2010 - The - Design - of - A - Planar Kinetic - Reciprocal - Frame

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Proceedings of the International Association for Shell and Spatial Structures (IASS) Symposium 2010, Shanghai

Spatial Structures Permanent and Temporary

The design of a planar Kinetic Reciprocal Frame

Keywords: reciprocal frames, kinetic structures

Figure 1 sketch and scheme Figure 2 sketch and scheme

2. The kinematic determinacy of Reciprocal Frames networks

The degrees of freedom of a structure are the number of independent parameters

2.1 Kinematic matrix of RF

A[coefficient of the kinematic matrix]*[set1]=[set2]

2.2 The kinematic matrix construction scheme

3 Case study: Kinetic Reciprocal Frame

reciprocal frame unit of

3.1 The parametric definition of the structure

Figure 10 is drawn by means of Cartesian coordinates. The position of every bar is

3.2 The kinematic matrix

3.2 The geometrical description of the network

more coincident with Bar 2 ( Figure 14). Bar 2

able to rotate to the position of

3.3.1 Prototype details description

External constraints Reduntant external constraints

4 Possible applications and future developments.

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