Generalized modeling of origami folding joints

Zhang, Hongying, Feng, Huijuan, Huang, Jian-Lin and Paik, Jamie (2021) Generalized modeling of origami folding joints. Extreme Mechanics Letters, 45. p. 101213. ISSN 2352-4316

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Origami robots self-reconfigure from a quasi two-dimensional manufactured state to three-dimensional mobile robots. By folding, they excel in transforming their initial spatial configuration to expand their functionalities. However, unlike paper-based origamis, where the materials can remain homogeneous, origami robots require varying payloads and controllability of their reconfigurations. Therefore, the mechanisms to achieve automated folding adapt flat thin panels and folding hinges that are often of different materials to achieve the folding. While the fundamental working principle of an origami hinge remains simple, these multi-component, multi-material origami joints can no longer be modeled by beam theory without considering the semi-rigid connections at the material interfaces. Currently, there is no comprehensive model to analyze physical behavior of an actuated folding hinge accurately. In this work, we propose a model based on the plate theory to predict the origami folding joint: we adapt a torsional spring to capture this semi-rigid connection, predict the folding stiffness and bending of origami joints. Herein, the semi-rigid connection is calibrated by quasi-static folding tests on a series of physical origami folding joints, and the accuracy of our model is compared to finite element simulations. With this analytical model, we can accurately simulate the mechanics of physical origami folding joints.

Item Type: Article
Additional Information: Funding information: This project is sponsored by the Facebook Reality Labs USA . H. Zhang designed research; H. Zhang and H. Feng performed research; J.-L. Huang contributed experimental tools; H. Zhang analyzed data; and H. Zhang and J. Paik wrote the paper. The authors declare are no conflict of interests. The authors would thank Dr. Peter Eckert for his help in fabricating the calibration test setups.
Uncontrolled Keywords: physical origami, origami folding joint, mechanics modeling
Subjects: G400 Computer Science
H300 Mechanical Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User: John Coen
Date Deposited: 25 Feb 2021 08:59
Last Modified: 19 Feb 2022 03:32

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