刚性折纸机构运动分析及折叠过程仿真

In order to analyze the kinematic characteristics of rigid origami mechanism and study the folding process of different patterns, the kinematic model of rigid origami mechanisms is established and the folding state of typical pattern is analyzed. Firstly, the relation equation between the rotation angle of creases at a single vertex is established, the explicit expression of the unknown angle of creases is derived, and the interference solution is eliminated through the mutual test of equation solutions to obtain the actual rotation angle of the arbitrary folding state. Secondly, using the rotation transformation matrix, the real time coordinates of the vertex are calculated. Thirdly, the intersection test algorithm of triangular facets is applied to judge interference of rigid origami mechanism, and the interference in the folding process is detected. Finally, the folding process simulation platform is established, and the folding process of typical rigid origami mechanism is analyzed. The simulation results coincide with the actual folding process, which verifies the correctness of the kinematic analysis method of rigid origami mechanisms and the applicability of the simulation platform.