Related papers: Origami launcher
Traditionally, origami has been categorized into two groups according to their kinematics design: rigid and non-rigid origami. However, such categorization can be superficial, and rigid origami can obtain new mechanical properties by…
Origami crease patterns are folding paths that transform flat sheets into spatial objects. Origami patterns with a single degree of freedom (DOF) have creases that fold simultaneously. More often, several substeps are required to…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…
This study proposes and examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in origami skeleton to eliminate the need for multiple…
The presence of cuts in a thin planar sheet can dramatically alter its mechanical and geometrical response to loading, as the cuts allow the sheet to deform strongly in the third dimension. We use numerical experiments to characterize the…
Foldable robots have been an active area of robotics research due to their high volume-to-mass ratio, easy packability, and shape adaptability. For locomotion, previously developed foldable robots have either embedded linear actuators in,…
Origami metamaterial design enables drastic qualitative changes in the response properties of a thin sheet via the addition of a repeating pattern of folds based around a rigid folding motion. Known also as a mechanism, this folding motion…
In this paper, we study how to fold a specified origami crease pattern in order to minimize the impact of paper thickness. Specifically, origami designs are often expressed by a mountain-valley pattern (plane graph of creases with relative…
We develop a geometric approach to understand the mechanics of perforated thin elastic sheets, using the method of strain-dependent image elastic charges. This technique recognizes the buckling response of a hole under external load as a…
Origami folded cylinders (origami bellows) have found increasingly sophisticated applications in space flight and medicine. In spite of this interest, a general understanding of the mechanics of an origami folded cylinder has been elusive.…
We investigate the mechanics of thin sheets decorated by non-interacting creases. The system considered here consists in parallel folds connected by elastic panels. We show that the mechanical response of the creased structure is twofold,…
Flat-foldability problem of origami is the problem to determine whether a given crease pattern drawn on a piece of paper is possible to fold without any penetration or intrusion of a polygon into any connections among them. It is known from…
There has been a resurgence of interest in using origami principles--along with $2$D materials--to design a wide array of nanoscale devices. In this work, we take cognizance of the fact that small-scale devices are vulnerable to entropic…
"Flat origami" refers to the folding of flat, zero-curvature paper such that the finished object lies in a plane. Mathematically, flat origami consists of a continuous, piecewise isometric map $f:P\subseteq\mathbb{R}^2\to\mathbb{R}^2$ along…
Following on Part I of this work series on local kirigami mechanics, we present a study of a discretely creased mechanism as a model to investigate the mechanics of the basic geometric building block of kirigami--the e-cone. We consider an…
We establish a novel local-global framework for analyzing rigid origami mechanics through cosheaf homology, proving the equivalence of truss and hinge constraint systems via an induced linear isomorphism. This approach applies to origami…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
Miniature robots provide unprecedented access to confined environments and show promising potential for novel applications such as search-and-rescue and high-value asset inspection. The capability of body deformation further enhances the…
Due to its rigid foldability and predictable kinematics, the reverse fold is the fundamental mechanism behind some of the most well known origami kinematic structures, including the Miura Ori, Yoshimura, and waterbomb patterns. However, the…