Kinematic Representations of Pop-Up Paper Mechanisms

Origami has been previously utilized in design to create deployable systems. Action origami, origami designed to move, has the ability to deploy to a larger state and have motion in the deployed state. The majority of action origami achieves motion through coupled systems of spherical mechanisms. An origami vertex, the point at which folds converge, is shown to be equivalent to a spherical change-point mechanism. A position analysis of an origami vertex is presented, resulting in a relationship between input and output angles as well as the path of the coupler link. A method for analyzing coupled systems of repeated spherical mechanisms is proposed and demonstrated using two examples. A better understanding of the kinematics of action origami increases the ability of designers to create compact, deployable mechanisms for use in packaging, space, and medical industries.

2018

Origami has been previously utilized in design to create deployable systems. Action origami, origami designed to move, has the ability to deploy to a larger state and have motion in the deployed state. The majority of action origami achieves motion through coupled systems of spherical mechanisms. An origami vertex, the point at which folds converge, is shown to be equivalent to a spherical change-point mechanism. A position analysis of an origami vertex is presented, resulting in a relationship between input and output angles as well as the path of the coupler link. A method for analyzing coupled systems of repeated spherical mechanisms is proposed and demonstrated using two examples. Better understanding the kinematics of action origami increases the ability of designers to create compact, deployable mechanisms for use in packaging, space, and medical industries.

2019

This work provides an overview of two developments in origami-based mechanism design. Past methods of predicting mechanical advantage in compliant mechanisms were adapted to predict the mechanical advantage in multi-input origami-based mechanisms. The model was verified against experimental testing of an origami-based mechanism. A method for creating selfdeploying flat-foldable thick origami was proposed with details to guide the design of a single vertex. This method was demonstrated in physical prototypes. The mechanical advantage model and Regionally-Sandwiching of Compliant Sheets (ReCS) technique proposed in this work should serve to make origami-based mechanisms more capable of aiding NASA in their objectives. INTRODUCTION Origami-based mechanisms can be classified as a branch of compliant mechanisms that offer attractive solutions to traditional engineering challenges. The capability of origami-based mechanisms to create unique motions and configurations makes them ideal cand...

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), 2018

Mechanism and Machine Theory, 2019

Folding is a manufacturing method which can create complex 3D geometries from flat materials and can be particularly useful in cost-sensitive or planar-limited fabrication applications. This paper introduces compliant mechanisms that employ folding techniques from origami to evolve from a flat material to deployed state. We present origami-inspired sacrificial joints, joints which have mobility during assembly of the mechanism but are rigid in their final position, to create regions of high and low stiffness and the proper alignment of compliant flexures in folded mechanisms. To demonstrate the method we fold steel sheet to create some well-known and complex compliant mechanisms.

Mechanical Sciences, 2011

Origami is the art of folding paper. In the context of engineering, orimimetics is the application of folding to solve problems. Kinetic origami behavior can be modeled with the pseudo-rigid-body model since the origami are compliant mechanisms. These compliant mechanisms, when having a flat initial state and motion emerging out of the fabrication plane, are classified as lamina emergent mechanisms (LEMs). To demonstrate the feasibility of identifying links between origami and compliant mechanism analysis and design methods, four flat folding paper mechanisms are presented with their corresponding kinematic and graph models. Principles from graph theory are used to abstract the mechanisms to show them as coupled, or inter-connected, mechanisms. It is anticipated that this work lays a foundation for exploring methods for LEM synthesis based on the analogy between flat-folding origami models and linkage assembly.

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

Origami, the human art of paper sculpture, is a fresh challenge for the field of robotic manipulation, and provides a concrete example for many difficult and general manipulation problems. This paper presents some initial results, including the world's first origami-folding robot, definition of a simple class of origami for which we have designed a complete automatic planner, an analysis of the kinematics of more complicated folds, and some new theorems about foldability.

2002

ABSTRACT I will present origami folding as an exciting challenge problem for the field of robotic manipulation. The problem is familiar, but also challenging -- an origami design can be described as a flexible closed chain with a large number of degrees of freedom. Through an exploration of origami folding, my thesis will give insight and provide a partial solution to some very hard manipulation problems.

2012

The Application of Origami to the Design of Lamina Emergent Mechanisms (LEMs) with Extensions to Collapsible, Compliant and Flat-Folding Mechanisms Holly C. Greenberg Department of Mechanical Engineering, BYU Master of Science Lamina emergent mechanisms (LEMs) are a subset of compliant mechanisms which are fabricated from planar materials; use compliance, or flexibility of the material, to transfer energy; and have motion that emerges out of the fabrication plane. LEMs provide potential design advantages by reducing the number of parts, reducing cost, reducing weight, improving recyclability, increasing precision, and eliminating assembly, to name a few. However, there are inherent design and modeling challenges including complexities in large, non-linear deflections, singularities that exist when leaving the planar state, and the coupling of material properties and geometry in predicting mechanism behavior. This thesis examines the planar and spherical LEMs and their relation to or...

2017

Origami-adapted mechanisms form the basis of an increasing number of engineered systems. As most of these systems require the use of non-paper materials, various methods for accommodating thickness have been developed. These methods have opened new avenues for origami-based design. This work introduces approaches for the design of two new classes of thick-origami systems and demonstrates the approaches in hardware. One type of system, called "conceal-and-reveal," is introduced, and a method of designing these mechanisms is developed. Techniques are also developed for designing folding printed circuit boards which are fabricated from a single sheet of material. This enables areas of regional flexibility, leaving other areas stiff. This allows components to be attached to stiff regions and folding to occur at flexible regions. An optimization method is presented to design the geometry of surrogate hinges to aid in monolithic origami-based mechanisms such as flexible PCBs. Ex...