.... In this paper, the spherical 4R linkages in tubes with hexagonal cross-sections are partially replaced by spatial linkages, leading to a method to construct the thick-panel tubes, which can reproduce kinematic motions equivalent to those realized using zero-thickness origami. Based on the D–H matrix method...

...Song Lin; Hanchao Wang; Yu Zhang; Jingyu Jiang In the dimension synthesis of the spatial linkages, the geometric characteristics of floating links in mechanisms reveal the geometric relationship between the motion task and the dimensions of the mechanisms. In order to establish the kinematic...