A Novel Single-Loop Multiple Metamorphic Mechanism Inspired by Thick-Panel Origami

The relationship between origami and mechanism is very close, and the construction theory of thick-panel origami contains the way to discover new mechanism. There are relatively few single-loop metamorphic mechanisms generated from thick-panel origami. Inspired by thick-panel origami derived from Miura origami, this paper proposes a novel single-loop 6R multiple metamorphic mechanism. By constructing and solving the D-H closed-loop equation of the mechanism and analyzing its singular configuration by using the screw theory, the planar, spherical and Bennett motion branches of the mechanism are illustrated and all the three bifurcation points between motion branches are given.