Mobility and Underactuated Kinematics of a Compliant Origami Waterbomb-6R Base with Vertex Joint

The compliant origami waterbomb-6R base has significant potential for application in a variety of origami structures. However, it is crucial to effectively model the underactuated kinematics of this origami base to enable a comprehensive analysis of its local motion, and to mitigate issues related to insufficient motion constraints that arise from the removal of vertex materials. In this study, a new configuration of compliant origami waterbomb-6R base with vertex joint is proposed. First, the mechanism and the mobility of the waterbomb-6R base is analyzed by using screw theory. Second, the underactuated kinematic modeling method based on the augmented Euler-Lagrange functional equation is presented. Finally, the compliant waterbomb-6R base of specific configuration parameters is studied for constrained compliance analysis and validation of underactuated kinematics at the stable point. The results show that the motion constraint of the new configuration is improved and the underactuated kinematic modeling method is effective.