Reconfigurability of the origami-inspired integrated 8R kinematotropic metamorphic mechanism and its evolved 6R and 4R mechanisms

Abstract

Origami engineering as an interdisciplinary subject brings thriving progress of mechanisms innovation. In this paper, a construction approach from origami to multiple spherical-integrated mechanisms is proposed and subtly sets up the bridge between origami and Bennett linkage, Bricard linkage. Subsequently, the attention is drawn to a special origami-inspired integrated 8R kinematotropic metamorphic mechanism. The paper applies screw theory to illustrating the reconfigurability of singular configurations with distinct parametric constraints in the 8R mechanism. Two overconstrained linkages, a 4R linkage and a 6R linkage, are evolved under peculiar geometrical constraints respectively. Furthermore, the kaleidocycle and deployable properties of the 8R mechanism are revealed. The paper hence not only presents an interesting work extracted from origami but also sheds light on the promising investigation about the intersection of distinct types of reconfigurable mechanisms. Finally, by using the kinematotropic metamorphic 8R mechanism as the reconfigurable trunk, a novel quadruped robot is built and its characteristics will be investigated in future research.