Assembly law of multi-ring hybrid origami mechanism and calculation method of the degree of freedom

This paper proposes a method for calculating the degrees of freedom of multi-loop hybrid folding mechanisms, which is used to calculate the degrees of freedom of multi-loop hybrid folding mechanisms, redefines the problem of not being able to determine whether the folding units are in series and parallel during the assembly process, summaries the two cases of redundant constraints, gives the calculation principle of multi-loop hybrid folding mechanisms, calculates the degrees of freedom for The calculation of degrees of freedom for the assembly of a variety of different crease folding units is carried out to verify the accuracy and feasibility of the degree of freedom calculation rule proposed in this paper. The control of the hand claw is improved and the number of drives added to the envelope type paper folding hand claw to capture space debris is reduced, greatly improving the reliability and stability of the paper-folding hand claw in space capture work, which is of great significance to the problem of calculating degrees of freedom after the assembly of paper folding units and the analysis of degrees of freedom of complex paper folding mechanisms and their design.