Connected deployable arms off of cylindrical surfaces for increased mobility

A connected deployable arms device for increased mobility, the device

• comprising:
• a central hub comprising a developable surface and
• an outer cylinder comprising:
• a first end having a first annular surface;
• a second end having a second annular surface;
• a primary wall extending between the first end and the second end, defining
• an outer circumference of the outer cylinder, having a cylindrical surface and a central aperture therethrough from the first end to the second end;
• an inner cylinder comprising:
• a first end having a first annular surface;
• a second end having a second annular surface;
• a secondary wall extending between the first end and second end, defining an outer circumference of the inner cylinder, having a circumferential surface and the central aperture therethrough from the first end to the second end, the inner cylinder being concentric with, and rotatably coupled to, the outer cylinder;
• wherein the first end of the inner cylinder is adjacent to the first end of the outer cylinder, the second end of the inner cylinder is adjacent to the second end of the outer cylinder, and wherein the outer circumference and an outer radius of the inner cylinder are less than an inner circumference and an inner radius of the outer cylinder and disposed within the inner radius of the primary wall of the outer cylinder;
• one or more developable mechanisms comprising one or more deployable arms that conform to the central hub, comprising:
• one or more primary developable mechanisms comprising:
• a curved body having a contact area on a surface of the curved body;
• a first end pivotably connected to a first joint of the outer cylinder;
• a second end, and a second joint pivotably connecting the curved body to one or more secondary developable mechanisms;
• the one or more secondary developable mechanisms comprising:
• an adapted crank-slider having a first end pivotably connected to the second joint and a second end pivotably connected to a third joint of the inner cylinder;
• and
• wherein one or more developable mechanisms transition from a closed state, wherein the one or more primary developable mechanisms and the one or more secondary developable mechanisms are contained entirely within the outer cylinder outer circumference, to an open state wherein the inner cylinder rotates relative to the outer cylinder, forcing the one or more primary developable mechanisms and one or more secondary developable mechanisms to extend outside the outer cylinder outer circumference.