Multiloop origami inspired spherical mechanisms

In this paper we present a new class of mechanisms called Multiloop Origami Inspired Spherical Mechanisms (MOISM). When new origami-inspired mechanisms are created, usually the designers employ well known origami structures. This method has limitations on the existing origami structures. By enumerating spherical mechanisms using graph and group theories, we can find other structures that comply with the flat-foldable origami theorems. Therefore, we can create new origami-inspired mechanisms that have fewer limitations than their counterparts. First, we compare origami mechanisms to spherical mechanisms, discussing mobility and the order of the screw system to which all joints belong. We then list some mathematical theorems in the design of flat-foldable origamis, which we then use to enumerate origami-inspired spherical mechanisms. Next, we present an atlas of kinematic chains that comply with the flat-foldable origami theorems, comparing them to the origami theorems discussed. Finally, an application of an origami inspired mechanism as a spherical wrist is presented at the end. (C) 2020 Elsevier Ltd. All rights reserved.

Automated summary

This paper introduces a new class of mechanisms called MOISM, which enumerates spherical mechanisms using graph and group theories to find new structures that comply with flat-foldable origami theorems, creating origami-inspired mechanisms with fewer limitations. Comparisons between origami mechanisms and spherical mechanisms are made, mathematical theorems in the design of flat-foldable origamis are listed, and an atlas of kinematic chains complying with flat-foldable origami theorems is presented, with an application of an origami inspired mechanism as a spherical wrist at the end.