Kinemac samples 20182/24/2023 ![]() ![]() ![]() Mechanisms parameterized by fold angles have fewer variables and simpler mathematical behaviors, i.e., smoother kinematic manifolds (constraint space), than being parameterized by nodal coordinates. The plate model that regards fold angles as variables and the closure conditions for each linkage loop and origami vertex as constraints. To run a simulation, there are two typical ways of parameterizing/modeling a mechanism: Path-finding simulations that assign both of the initial and the end configurations of the mechanism, and then compute for the actuation needed and its motion process. Predictive simulations that assign both the initial configuration and the actuation of the mechanism, and then compute for the end configuration and its motion process. There are two purposes/types of numerical simulations: As a consequence, numerical simulation is typically used to study multi-DOF mechanisms. It becomes harder or impossible to analytically track the motion, which consists of solutions that satisfy kinematic constraints, of complex mechanisms that have more than one independent kinematic variable. The motion of 1 DOF mechanisms has complex closed-form expressions. The literature on mechanism analysis is extensive. This paper mainly investigates different kinematic paths connecting two known configurations, which can then be used to assess the performance of the mechanism and provide guidance for the morphing-actuation control. ![]() This method is not considered in this paper and is discussed in Li and Pellegrino. Design that energy landscape properly so that it helps to guide the motion and then requires fewer actuators to provide the desired reconfiguration. Transform the multi-DOF mechanism into an elastic structure by introducing elastic components which correspondingly introduce an energy landscape. This needs the knowledge of kinematic paths, and that is what this paper tries to achieve. Mount sufficient number (> DOF) of actuators on it (such as in ), and then coordinate those actuators in a kinemactically compatible way, so that (1) no undesired self-stress and no actuation frustration are caused and (2) desired reconfiguration is reasonably achieved. When a multi-DOF mechanism is employed (due to the necessity), there are two practical ways to control/actuate it: Multi-DOF mechanisms can morph more flexibly to many different configurations and are attracting more attentions recently, ,, ,. However, their flexibility of motion is correspondingly limited by the kinematic simplicity. ![]() Most research into mechanism (the skeleton of a morphing structure) analysis focuses on one degree-of-freedom (DOF) mechanisms, such as four-bar linkages and Miura-ori, which have analytical expressions of the kinematics and are easy to control in practice. Another type of applications is in robotics, that uses morphing structures to achieve certain motions. Morphing structures can also be packageable in transportation and deployable in service, , which can be used for space solar panels in aerospace applications and stent grafts in medical applications. As a result, more integrated and compound-functional devices can be developed. These structures can be reconfigurable, , which can provide morphing platforms that need several distinct service configurations, such as for reconfigurable antennas, and morphing wings of aircrafts. Mechanisms consisting of rigid members and hinges are commonly used as skeletons, where additional elastic components and actuators can be mounted on top of them, for morphing structures. ![]()
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