Motion paths finding for multi-degree-of-freedom mechanisms

摘要

Multiple degree-of-freedom (DOF) mechanisms can provide more flexible reconfigurations than 1 DOF ones but are more complex to analyze. One difficulty is the existence of an unlimited number of valid motion directions at each configuration point. In this paper, a shooting method that is defined by customized target functions is introduced to help determine a specific motion direction at each configuration point. As a result, an incremental path-finding simulation can be carried out by following a unique motion direction at each step. The ability to arbitrarily define the target function allows a flexible and desirable exploration of the motion space, and it can find different motion paths that lead to the target state. Two examples are provided, in which different motion paths for deploying a 5-bar linkage and folding a Resch origami pattern are generated.