Abstract In this paper we present a new class of mechanisms called Multiloop Origami Inspired Spherical Mechanisms (MOISM). When new origami-inspired mechanisms are created, usually the designers employ well known origami structures. This method has limitations on the existing origami structures. By enumerating spherical mechanisms using graph and group theories, we can find other structures that comply with the flat-foldable origami theorems. Therefore, we can create new origami-inspired mechanisms that have fewer limitations than their counterparts. First, we compare origami mechanisms to spherical mechanisms, discussing mobility and the order of the screw system to which all joints belong. We then list some mathematical theorems in the design of flat-foldable origamis, which we then use to enumerate origami-inspired spherical mechanisms. Next, we present an atlas of kinematic chains that comply with the flat-foldable origami theorems, comparing them to the origami theorems discussed. Finally, an application of an origami inspired mechanism as a spherical wrist is presented at the end.

中文翻译：

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多环折纸启发球体机制

摘要 在本文中，我们提出了一类新的机制，称为多环折纸启发球形机制（MOISM）。当创建新的折纸启发机制时，设计师通常采用众所周知的折纸结构。这种方法对现有的折纸结构有局限性。通过使用图论和群论列举球面机制，我们可以找到其他符合可折叠折纸定理的结构。因此，我们可以创建新的受折纸启发的机制，其限制比同类机制少。首先，我们将折纸机制与球形机制进行比较，讨论活动性和所有关节所属的螺钉系统的顺序。然后我们列出了平面可折叠折纸设计中的一些数学定理，然后我们用它们来列举受折纸启发的球形机制。下一个，我们提出了一个符合可折叠折纸定理的运动链图谱，并将它们与讨论的折纸定理进行比较。最后，最后介绍了折纸启发机制作为球形手腕的应用。