Kinematic Analysis Of Flasher Origami Mechanism And Study On Its Thickening Method

Origami is an old art.In recent years,mechanisms have glowed with new vitality inspired by the origami art,which has formed a new branch of mecnanisms called origami type mechanism.In the study of origami mechanism,mathematicians are devoted to study the topology conversion between two dimension crease distribution and three dimension structures,mechanism experts are devoted to achieve application of origami mechanism in engineering practice.Flasher origami mechanism,which has a distinctive feature of folding and unfolding with a lager folding and unfolding ratio,is a typical type of origami.It is of great significance for origami mechanism's theoretical basis and practical application to take in-depth study on origami mechanism represented by flasher origami mechanism.This article takes flasher origami mechaniam as the research object,has analyzed calculation method of the degree of freedom,taken the kinematic analysis and studied thickening methods to achieve flasher origami mechanisms' application in engineering.This article has taken following works aimed at flashe origami mechanism.Firstly,this article has analyzed the structure features and kinematic characteristics of flasher origami mechanisms in depth,confirmed the constraint relationship between vertices of flasher origami mechanism,derived the Jacobian matrix of flasher origami mechanism and calculating the zero space dimension of the Jacobian matrix.This article has studied and explained the relationship between zero space dimension and flasher origami mechanisms' degree of freedom,came up with a type of Jacobian matrix method to calculate the degree of freedom of flasher origami mechanism.Secondly,this article has completed the kinematic modeling for single vertex origami mechanism and two vertexs origami mechanism with D-H parametic method,and ananlyzed the kinematic characteristics of flasher origami mechanism.On the basis of least squares iteration principle,this aticle has confirmed the origami mechanisms' input parameters with degree of freedom calculation method,solved the kinematic model with matlab software and comparative analyzed output motion curve to verify the correctness of the theoretical analysis.Then,in order to achieve the application of flasher origami mechanism in engineering,this article has combined the thickening method for origami mechanism,proposed the method of structure adjustments to avoid interference when flasher thick panel mechanism is folding and unfolding and taken kinematic analysis for flasher thick panel mechanism with D-H parametric method.Finally,this article has taken the kinematic simulation for flasher thick panel mechanism with ADAMS software and comparative analyzed the simulation results with model solutions.The results show that the results of model solution is in accordance with simulation results,which verified feasibility of thickening method proposed in this article and reached expected design goals.