Figure 1

Linkage geometry in origami-inspired mechanisms. The Bennett linkage described with (a) thicknesses a_i and hinges indicated by numbers 1 through 4 and (b) angles α_i and θ_i. A zero-thickness equivalent (c) where a_i = 0 and two frames m and n are used to define a panel (d) where m and n are related by a homogeneous transformation T.