Structural Design And Motion Analysis Of Miura’s Folding Thick Plate

Miura-ori is a kind of rigid origami,in the process of folding smoothly unfolding,each parallelogram is not bent and completely flat.It has the advantages of simple geometry,good mechanical properties,single freedom motion,and is widely used in medical equipment,aerospace,robot and other fields.The current research mainly focuses on the configuration analysis and some mechanical properties of zero thickness origami structure,and also includes interference analysis of thick origami.But in practical engineering application,the motion analysis and Simulation of the thick folding structure are relatively few.Therefore,based on the Miura-ori folding unit with rigid folding characteristics,a thick folded paper structure with single degree of freedom similar to the zero thickness MIura-ori mode is constructed by using the plate thickness method.The design of the folding paper structure is systematically studied by using the D-H parameter method,homogeneous coordinate transformation matrix,Jacobian matrix method,spiral theory and simulation analysis.Firstly,the mathematical expression method of origami configuration composition parameters is given.The degree of freedom of Miura-ori configuration is analyzed by solving the zero space dimension of Jacobian matrix.The equivalent space linkage mechanism of Miura-ori structure is constructed.The transformation matrix is established by D-H parameter method,and the motion parameters curve of each rotating joint of the motion model is obtained.The paper is designed by a software program to simulate the folding motion of Miura-ori configuration by calculating the coordinates of each node of origami configuration,and analyzing its motion process intuitively,which provides an important theoretical reference for the design of folding structure of thick plate.Then,analysis the paper structure of the plate thickness method;The change law between the folding ratio,the panel thickness and the number of creases of the folding paper structure of Miura-ori thick plates with single vertex is analyzed to determine the best plate thickness;The interference principle in the process of plate thickening is studied.Referring to the axial shift method,the paper constructs the folding paper model of Miura-ori thick plate.The freedom degree of the thick plate structure is calculated by using the spiral theory,and the motion equivalence between the thick plate structure and the zero thickness folding paper structure is proved.Based on the kinematic analysis,the virtual simulation model of the Miura-ori folded thick plate structure is established,and the motion parameter curve is output.Finally,analyzing the mode of the folding paper structure of Miura-ori thick plate in the unfolding and folding state by using the finite element software ANSYS Workbench in order to make the design structure more reasonable.The natural modal parameters are obtained,which provides theoretical basis for the vibration characteristics analysis and optimization design of the thick plate folding paper structure system.The structure designed in this paper can be made of rigid materials of different thickness,which has a certain theoretical value for the structural analysis and the research of folding motion,and provides important reference for the innovation design in the subsequent engineering application.