Origami-inspired structures with rigid panels now span thick, kirigami, and multi-sheet realizations, making unified kinematic analysis essential. Yet a general method that consolidates their loop constraints has been lacking. We present an automated approach that generates the Pfaffian constraint matrix for arbitrary rigid foldable structures (RFS). From a minimally extended data schema, the tool constructs the facet-hinge graph, extracts a minimum cycle basis that captures all constraints, and assembles a velocity-level constraint matrix via screw theory that encodes coupled rotation and translation loop closure. The framework computes and visualizes deploy and fold motions across diverse RFS while eliminating tedious and error-prone constraint calculations.

翻译：受折纸启发的刚性面板结构现已涵盖厚板、剪纸及多片层实现形式，这使得统一的运动学分析至关重要。然而，目前仍缺乏一种能够整合其闭环约束的通用方法。本文提出一种自动化方法，可为任意刚性可折叠结构生成普法夫约束矩阵。该工具基于最小扩展数据架构构建面-铰链图，提取捕获所有约束的最小环基，并通过旋量理论组装速度级约束矩阵，该矩阵编码了耦合旋转与平移的闭环条件。该框架能够计算并可视化各类刚性可折叠结构的展开与折叠运动，同时消除了繁琐且易出错的约束计算过程。