Abstract
This paper investigates the metamorphic mechanism derived from the hindwing in ladybird beetles, which creates its mathematical models and analyzes kinematics based on screw theory using mathematical software. The hindwing in ladybird beetles is an origami-like structure. Considering the concept of equivalent mechanisms, any origami pattern can be seen as being composed of several spherical multi-bar linkages connecting to each other. Hence, this paper proposes an algebra method to reveal the relations between different joint angles in the spherical multi-bar linkage, using the loop equations and Sylvester’s dialytic elimination method. The results can be used to find the location and the motion trajectory of any desired point in this ladybird wing metamorphic mechanism. The way of analysis of the spherical multi-bar mechanism used in this paper can be widely applied in design and practical applications.
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