Analysis of rotation capacity of a novel 2R1T mechanism based on origami of thick panels

Abstract

Abstract A foldable and symmetrical lower-mobility parallel mechanism was proposed based on Waterbomb origami of thick panels. It consists of a moving platform, a base plate and three deployable foldable legs between moving platform and base plate. Firstly, constraint wrenches of each leg were formulated based on screw theory and the results illustrated that the moving platform is in possession of two degrees of orientation freedom and one translational degree of freedom. Secondly, it was approved that base and moving platform are always symmetrical about a middle plane and the moving platform can rotate continuously about any axis chosen freely on this plane. Solving models including forward and inverse position problems were established to determine the maximum rotational angle and workspace. Finally, performance indexe of maximum rotational angle of the PM was analyzed, and effects of two structural variables to the performance were summarized. Conclusions obtained can provide a theoretical basis for the structural design and engineering application of this 2T1R parallel mechanism.