Geometry and kinematic analysis of an origami-evolved mechanism based on artmimetics

A novel mechanism is evolved from an origami fold and it consists of three loops including one planar four-bar loop and two 4R spherical linkage loops. The mobility of the mechanism is analyzed with twist loop equations which form the constraint matrix of the new mechanism. The assembly and geometric constraint conditions are then discussed. The paper further decomposes the mechanism into three loops and investigates its geometry and kinematics with closed form equations. Finally, a numerical example is given in order to illustrate the kinematic characteristics of this origami-evolved mechanism.