| 摘要: |
| 针对折纸机构中刚性折纸机构的运动学特性和刚性折叠条件展开分析，提出了折纸机构能折叠不代表一定能够刚性折叠，核心问题是要找到刚性约束；对于多边形折纸机构，其中心的多边形可以视为公共转轴，实现刚性折叠的约束条件即公共转轴连接相邻顶点的两端运动必须协调一致，主要使用了球面几何学、三角函数等数理方法；通过对单顶点四折痕机构的运动学特性分析，找出单顶点折纸机构各折痕转角之间的关系，进而拓展到多边形折纸机构，验证其公共折痕的运动满足刚性约束条件，进而实现刚性折叠；针对不同折纸机构需要单独进行运动分析和复杂计算等问题，采用了更加简便的求解方法， |
| 关键词: 刚性折纸机构 运动学 刚性折叠 多边形折纸机构 |
| DOI： |
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| Kinematics Analysis and Foldable Conditions of Rigid Origami Mechanism |
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ZHANG YU-hui, ZHANG Fan, CUI Guo-hua
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School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
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| Abstract: |
| Based on the analysis of kinematic characteristics and rigid folding conditions of the rigid origami mechanism in the origami mechanism, it is proposed that the folding mechanism of the origami mechanism does not mean that it can be folded rigidly， and the core issue is to find the rigid constraint. For a polygonal origami mechanism, its center polygon can be regarded as a common shaft, and the constraint condition to realize rigid folding is that the movement of the two ends of the common shaft connecting the adjacent vertices must be coordinated. It mainly uses the mathematical methods such as spherical geometry and trigonometric functions and so on. Through the analysis of the kinematics of the mechanism of |
| Key words: rigid origami mechanism kinematics rigid folding polygonal origami mechanism |
