Development Of A Kinematic Simulation Platform For Origami Mechanism Based On OpenGL

As a new and important branch of mechanism,origami mechanism has attracted extensive research interest,and new origami configurations have emerged.But in the study of origami mechanism,because of its complex configuration and difficult folding,the process of establishing the model of origami mechanism has always been a difficult point.At present,most of the models are built by building physical objects or using threedimensional modeling software,which takes a long time and is difficult to modify.Therefore,in order to solve this problem,this paper takes origami mechanism as the research object,through studying the movement process of origami mechanism,using OpenGL(Open Graphics Library)three-dimensional modeling technology,establishes the motion simulation platform of origami mechanism.The research work is mainly as follows:The development process of origami mechanism motion simulation platform is overall planned.Based on the analysis of the movement process of origami mechanism,the functions that the simulation platform should be able to achieve are put forward,and the specific environment for platform development is selected.The whole system is modularized,and three functional modules are planned according to the logical relationship: data acquisition module,parameter calculation module and threedimensional model simulation module.The specific process of platform development is designed according to the functional content of each module.Firstly,the parameters of the origami mechanism under the initial configuration are read and preprocessed.By studying the configuration of origami mechanism in the course of movement,and according to the data format of DXF file generated by CAD,the drawing method of origami mechanism in CAD is designed,and based on this,the interface program of DXF file data is designed.Pre-processing the read line information to provide the basis for subsequent parameter calculation.Secondly,the indentation angle and vertex coordinate of origami mechanism in motion are solved.The transformation method between folds of origami mechanism based on quaternion method is studied.Through closed-loop transformation between folds on each vertex,a set of nonlinear equations with unknown fold angle is established.Newton iteration method is used to solve the equations,and the Newton method is optimized according to some characteristics of origami mechanism.Then,according to the characteristics of origami mechanism,the algorithm of solving vertex coordinates is studied,and the three-dimensional coordinates of each vertex under each indentation angle are solved.At last,the paper folding mechanism motion simulation platform is built.Because the drawing of model in OpenGL is based on plane,the recognition algorithm of vertex composition of face in origami mechanism is studied.Based on OpenGL threedimensional modeling technology,the kinematic simulation model of origami mechanism is established,and the drawing,projection,transformation and rendering of the model are studied.Qt is used to build an interactive interface,which enables users to control the movement of the model by clicking on the control.Finally,a variety of configurations are used to simulate and verify the feasibility of the platform.