Landen Bowen

A Classification of Action Origami as Systems of Spherical Mechanisms

Action origami is a field of origami dealing with models that are folded so that in their final, deployed state they exhibit motion. Hundreds of action origami models exist, many of which use complicated kinematics to achieve motion in their deployed state. A better understanding of the mechanisms used to create motion in action origami could be a foundation for developing a new source of concepts for deployable, movable engineering solutions. This brief presents an approach for evaluating and classifying the mechanisms that enable action origami motion. Approximately 130 action origami models are investigated. Although disguised with artistic elements, it is found that most action origami models are based on a few fundamental mechanisms. A classification scheme is proposed, and an unexplored class of action origami is identified as an area for future origami art.

Oriceps: Origami-Inspired Forceps

This paper presents the conceptualization and modeling of a compliant forceps design, which we have called Oriceps, as an example of origami-inspired design that has application in a variety of settings including robotic surgeries. Current robotic forceps often use traditional mechanisms with parts that are difficult to clean, wear quickly, and are challenging to fabricate due to their complexity and small size. The Oriceps design is based on the spherical kinematic configurations of several action origami models, and can be fabricated by cutting and folding flat material. This design concept has potential implementation as surgical forceps because it would require fewer parts, be easier to sterilize, and be potentially suitable for both macro and micro scales. The folded and planar characteristics of this design could be amenable to application of smart materials resulting in smaller scale, greater tool flexibility, integrated actuation, and an adaptability to a variety of tool functions. The suitability of shape-memory materials for use in Oriceps is discussed.Copyright

An Approach for Understanding Action Origami as Kinematic Mechanisms

Action origami is a field of origami dealing with models that are folded so that in their final, deployed state they exhibit motion. Hundreds of action origami models exist, many of which use complicated kinematics to achieve motion in their deployed state. Understanding the kinematics of action origami could result in a new source of concepts for deployable, movable engineering solutions. This paper presents an approach for evaluating and classifying the mechanisms that enable action origami motion. Approximately 300 action origami models are studied. Although disguised with artistic elements, it is found that most action origami models are based on a few fundamental mechanisms. A classification scheme is proposed, and a previously unused class of action origami is identified as an area for future origami art.Copyright

Optimization of a Dynamic Model of Magnetic Actuation of an Origami Mechanism

Self-folding origami has the potential to be utilized in novel areas such as self-assembling robotics and shape-morphing structures. Important decisions in the development of such applications include the choice of active material and its placement on the origami model. With proper placement, the error between the actual and target shapes can be minimized along with cost, weight, and power requirements. Through the incorporation of dynamic models of self-folding origami mechanisms into an optimization routine, optimal orientations for magnetically-active material are identified that minimize error to specified target shapes. The dynamic models, created using Adams 2014, are refined by improvements to magnetic material simulation and more accurate joint stiffness characterization. Self-folding dynamic models of the waterbomb base and Shafer’s Frog Tongue are optimized, demonstrating the potential use of this process as a design tool for other self-folding origami mechanisms.Copyright

A Dynamic Model of Magneto-Active Elastomer Actuation of the Waterbomb Base

Of special interest in the growing field of origami engineering is self-folding, wherein a material is able to fold itself in response to an applied field. In order to simulate the effect of active materials on an origami-inspired design, a dynamic model is needed. Ideally, the model would be an aid in determining how much active material is needed and where it should be placed to actuate the model to the desired position. A dynamic model of the origami waterbomb base, a well-known and foundational origami structure, is developed using Adams, a commercial dynamics software package. Creases are approximated as torsion springs with stiffness and damping. The stiffness of an origami crease is calculated, and the dynamic model is verified using the bistability of the waterbomb. An approximation of the torque produced by magneto-active elastomers (MAE) is calculated and is used to simulate MAE-actuated self-folding of the waterbomb.Copyright

Considering Mechanical Advantage in the Design and Actuation of an Origami-Based Mechanism

Increased interest in origami-based mechanisms has resulted in designers looking to them for solutions to engineering problems. Of particular interest is the ability to develop self-folding mechanisms that perform a pre-determined function in the presence of an applied field, requiring models that predict the mechanism’s force-deflection behavior and actuation input needs. In order to assist in the design of such mechanisms, this paper presents a model of the mechanical advantage for origami-based forceps (Oriceps) and explores how modifying the parameters of the model affects their behavior. The model is used to predict the force output of Oriceps actuated in an applied magnetic field. The predictions of the model are validated through experimental data.Copyright

A Preliminary Study of Actuation Approaches for Lamina Emergent Mechanisms

Lamina emergent mechanisms (LEMs) are made from sheet materials and have motion that emerges out of the fabrication plane. LEMs can be more compact, more cost effective, and more easily manufactured than many traditional mechanisms. Single-layer and multi-layer LEM designs could greatly benefit from suitable actuation techniques that are consistent with the advantages of these mechanisms. Bulky actuators may not be good choices for use with LEMs. This paper classifies forces and moments applicable to LEMs, shows how multi-layer LEMs can achieve emergent motion in simplified ways, and studies actuation methods for the macro scale. Shape memory alloys, piezo-electrics, and dielectric elastomers are explored as possible ways of setting LEMs into motion.Copyright