A Closed-form Solution for the Kinematics of Asymmetric Miura Vertices

The Miura vertex is a versatile origami pattern found in a variety of mechanisms. Previous papers have derived and validated a closed-form solution for the kinematics of a symmetric Miura vertex, but the motion of an asymmetric vertex has only been shown numerically. In this paper, we present the trigonometric derivation of a closed-form solution for the folding of an asymmetric Miura vertex.