Folding Angle Regulation by Curved Crease Design for Self-Assembling Origami Propellers

This paper presents a self-folding origami method for automated manufacturing of three dimensional curved structures. We first investigated how the curvature design of a crease on a sheet influences the folding angle, and further exploited this feature to regulate the self-folded designs. A mathematical model for estimating the folding angle and its experimental validation are shown. We demonstrated the method by self-folding a propeller structure, which can be levitated underwater with an external magnetic field application.