广义Waterbomb折纸管的刚性折叠运动特性

The accurate theoretical description of the folding motion of origami structures is the foundation for their design and precise control in engineering applications. However, the folding behavior of most general origami structures is very difficult to analyze because of the lack of theoretical model and analysis methodology for the complex mobile assemblies of spherical linkages. This paper focuses on the widely-used Waterbomb origami tubes. Based on the kinematics and compatibility of spherical linkages, the rigid folding behavior of generalized Waterbomb tubes was systematically analyzed with analytical kinematics equations to describe their rigid contract and twist motion. The effect of various geometrical parameters on the rigid folding behaviour, bifurcation property as well as physical blockages of the Waterbomb origami tube was studied. This work lays a theoretical foundation for the design and control of programmable metamaterials, deformable structures, and robots based on Waterbomb origami tubes, while such kinematic model can be readily applied to other origami patterns.