With this method the structural analysis of static and kinematic indeterminate foldable systems is conducted and the kinematic bifurcation points of pin-connected foldable structures along motion pat.

• 采用该方法对静不定动不定折叠体系进行了求解,确定了铰接式折叠结构的运动分歧点并求解了其高阶相容方程。