Keyword: folding and origami

Three-Position Synthesis of Origami-Evolved, Spherically Constrained Spatial Revolute–Revolute Chains
February 2016

Based on the Miura-ori origami pattern a mechanism family with naturally given slim shape may be evolved. Kinematic synthesis allows task-specific design, which is demonstrated in a car door guidance task. The result is a spatial car door guidance linkage that satisfies particularly given space requirements of the task.


Integrated Manufacture of Exoskeletons and Sensing Structures for Folded Millirobots
May 2015

Our prior work has shown that the Smart Composite Microstructures (SCM) process can be applied to produce folded millirobots that do not compromise on performance. The next frontier of this research is to bring these robots outside, into unknown and hazardous environments where needs for protection and sensing will be determined by task. To make this translation we present rapid, and low-cost manufacturing methods for more robust SCM structures, protective exoskeletons that aid locomotion, anisotropic claws that double traction, integrated tactile sensing arrays, and print-in-place strain gauges. These new structures protect SCM millirobots and add to their capabilities in ways that broaden their applicability to real-world situations.


Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators
May 2015

This work is to introduce the shape-memory-alloy (SMA) as an actuator to an origami parallel mechanism as a section of a novel worm robot. The work presents the design and manufacture of this active origami mechanism and the integrated SMA linear actuators for the worm robot. The use of SMA coil spring actuators provides a novel actuation method using linear actuators for parallel structures composed of only revolute joints, leading to actuation transference between rotary input and linear input. The presented principle of folding a flat sheet to a 3D structure is a step change approach to design and manufacture of fully-integrated robotic mechanisms.


Folding Angle Regulation by Curved Crease Design for Self-Assembling Origami Propellers
May 2015

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.


Robogami: A Fully Integrated Low-Profile Robotic Origami
May 2015

Robogamis are low-profile robotic sheets with multiple bending degrees of freedom. Layer by layer fabrication method of these robots allows embedment of different functional layers. The sub-millimeter thickness of Robogamis enables diverse transformations as those achievable by the paper Origami. The presented Robogami shows the first fully integrated version that has all the essential components for locomotion of a crawler robot.


Foldable Joints for Foldable Robots
May 2015

Origami-inspired robot designs have the potential to be faster, cheaper, and easier to fabricate than robots made through traditional manufacturing methods. In this paper, we show how a variety of basic joints used in robots can be folded from a flat sheet. The joints can be combined with each other and with rigid bodies to produce entire foldable linkages that can be actuated using circuitry integrated directly on the linkage surface. We have designed, folded, and actuated two robots using our joints, showing that it is possible to create robots using a uniform print and fold process.


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