Thick-Panel Origami-Inspired Multiple Metamorphic Mechanisms with Planar-Spherical-Bennett Bifurcated Cycle

• Proposes a pioneering single-loop 6R multiple metamorphic mechanism inspired by thick-panel origami, specifically Miura origami. • Elucidates planar, spherical, and Bennett motion branches and identifies all three bifurcation points using screw and Lie theories. • Demonstrates construction of a metamorphic network with symmetrical layout, enabling multiple folding configurations for deployable structures. • Offers a novel design methodology for metamorphic mechanisms derived from thick-panel origami, expanding application potential in aerospace and robotics.