Two Configuration Synthesis of Origami Guided Planar, Spherical and Spatial Revolute–Revolute Chains

Abstract

This paper presents a topological and dimensional kinematic synthesis methodology that can be used to constrain the movement of kinematic planar, spherical, and spatial revolute–revolute dyads (RR dyads). The approach is inspired by a subcategory of origami called rigid origami, which deals with highly overconstrained spatial deployable linkages. An example is the Miuraori folding pattern used to deploy solar panels in space. In addition to this application, this linkage also provides an interesting way to constrain general RR dyads so that they perform a single DOF motion. Here, these mechanisms are called origamiguided RR chains, and computer aided design models (CAD) of the planar, spherical and spatial type are presented. The dimensional synthesis approach allows us to constrain consecutive links using R or C joints so that the links satisfy two arbitrarily predefined task positions. This leads to what we call the twoconfiguration synthesis of linkages, and we examine a concrete synthesis procedure for an origamiguided spatial RR chain, which is also built using rapid prototyping. The procedure actually combines the twoconfiguration synthesis approach with the synthesis of the spatial TS dyad, and the paper provides an outlook on further ways to apply the twoconfiguration synthesis and also to synthesize the origamiguided RR chains.