Abstract 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.

中文翻译：

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多自由度机制的运动路径寻找

摘要 多自由度 (DOF) 机制可以提供比 1 DOF 更灵活的重构，但分析起来更复杂。一个困难是在每个配置点存在无限数量的有效运动方向。在本文中，引入了一种由自定义目标函数定义的射击方法，以帮助确定每个配置点的特定运动方向。因此，可以通过在每一步遵循唯一的运动方向来执行增量寻路模拟。任意定义目标函数的能力允许对运动空间进行灵活和理想的探索，并且可以找到导致目标状态的不同运动路径。提供了两个例子，