Split-Vertex Technique for Thickness-Accommodation in Origami-Based Mechanisms

2017 ◽  
Author(s):  
Kyler A. Tolman ◽  
Robert J. Lang ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Unfolded State ◽  
Potential Applications ◽  
Split Vertex

A novel thickness-accommodation technique for origami based mechanisms is introduced. This technique modifies a zero-thickness pattern by splitting each vertex along the minor folds into a system of two vertices. The modified fold pattern then has thickness applied to it and the resulting mechanism is kinematically equivalent to the modified fold pattern. Origami patterns that are rigid-foldable and only have two panels that stack between folds are utilized in the technique. The technique produces thick origami mechanisms where all panels lie in a plane in the unfolded state without any holes or protrusions and maintain a single degree of freedom. Steps for synthesizing split-vertex mechanisms are presented and examples of split-vertex mechanisms are shown. Advantages and potential applications of the technique are discussed.

scholarly journals On rigid origami II: quadrilateral creased papers

2020 ◽  
Vol 476 (2237) ◽  
pp. 20200020
Author(s):  
Zeyuan He ◽  
Simon D. Guest
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Quadrilateral Meshes ◽  
Single Degree ◽  
Potential Applications

Miura-ori is well known for its capability of flatly folding a sheet of paper through a tessellated crease pattern made of repeating parallelograms. Many potential applications have been based on the Miura-ori and its primary variations. Here, we are considering how to generalize the Miura-ori: what is the collection of rigid-foldable creased papers with a similar quadrilateral crease pattern as the Miura-ori? This paper reports some progress. We find some new variations of Miura-ori with less symmetry than the known rigid-foldable quadrilateral meshes. They are not necessarily developable or flat-foldable, and still only have single degree of freedom in their rigid folding motion. This article presents a classification of the new variations we discovered and explains the methods in detail.

Rigidly Foldable Thick Origami Using Designed-Offset Linkages

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Robert J. Lang ◽  
Nathan Brown ◽  
Brian Ignaut ◽  
Spencer Magleby ◽  
Larry Howell
Keyword(s):  
Plate Thickness ◽  
Degree Of Freedom ◽  
Unique Combination ◽  
Single Degree Of Freedom ◽  
Spatial Mechanism ◽  
Single Degree ◽  
Unfolded State ◽  
The Individual ◽  
Kinematic Motion

Abstract We present new families of thick origami mechanisms that achieve rigid foldability and parallel stacking of panels in the flat-folded state using linkages for some or all of the hinges between panels. A degree-four vertex results in a multiloop eight-bar spatial mechanism that can be analyzed as separate linkages. The individual linkages are designed so that they introduce offsets perpendicular to the panels that are mutually compatible around each vertex. This family of mechanisms offers the unique combination of planar unfolded state, parallel-stacked panels in the flat-folded state and kinematic single-degree-of-freedom motion from the flat-unfolded to the flat-folded state. The paper develops the mathematics defining the necessary offsets, beginning with a symmetric bird’s-foot vertex, and then shows that the joints can be developed for asymmetric flat-foldable systems. Although in the general case there is no guarantee of achieving perfect kinematic motion, we show that for many cases of interest, the deviation is a tiny fraction of the plate thickness. Mechanical realizations of several examples are presented.

An Origami-Inspired Self-Deployable Array

2013 ◽  
Author(s):  
Shannon A. Zirbel ◽  
Mary E. Wilson ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Strain Energy ◽  
Degree Of Freedom ◽  
Solar Array ◽  
Elastic Membrane ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Potential Applications ◽  
Panel Thickness

The objective of this paper is to show the development of a compact, self-deploying array based on the tapered map fold. The tapered map fold was modified by applying an elastic membrane to one side of the array and adequately spacing the panels adjacent to valley folds. Through this approach, the array can be folded into a fully dense volume when stowed. The panels are dimensioned to account for the panel thickness when folded, which otherwise would prevent the model from reaching a fully dense form. The folding motion is achieved by creating a rigid-foldable model of the origami-inspired crease pattern. The paper discusses a variety of approaches for creating rigid origami from the map fold, including pleat hinges and spacer panels. The tapered map fold is rigid-foldable through the incorporation of tapered spacer panels. By choosing appropriate values for the angles and tapered spacer panel dimensions, the tapered map fold is fully dense when stowed. The tapered spacer panels also enable the model to have a single degree of freedom of actuation. Stored strain energy in the elastic membrane enables self-actuation of the model. Applying a membrane also simplifies fabrication of the array. Potential applications for the array include a collapsible solar array, or other military or backpacking applications.

Rigidly Foldable Thick Origami Using Designed-Offset Linkages

2019 ◽  
Author(s):  
Robert J. Lang ◽  
Nathan Brown ◽  
Brian Ignaut ◽  
Spencer Magleby ◽  
Larry Howell
Keyword(s):  
Degree Of Freedom ◽  
Unique Combination ◽  
Single Degree Of Freedom ◽  
Spatial Mechanism ◽  
Single Degree ◽  
Unfolded State ◽  
The Individual

Abstract We present new families of thick origami mechanisms that achieve rigid foldability and parallel stacking of panels in the flat-folded state using linkages for some or all of the hinges between panels. A degree-four vertex results in a multi-loop eight-bar spatial mechanism that can be analyzed as separate linkages. The individual linkages are designed so that they introduce offsets perpendicular to the panels that are mutually compatible around each vertex. This family of mechanisms offers the unique combination of a planar unfolded state, parallel-stacked panels in the flat folded state, and kinematic single-degree-of-freedom motion from the flat-unfolded to the flat-folded state.

Kinematic comparison of single degree-of-freedom robotic gait trainers

2021 ◽  
Vol 159 ◽  
pp. 104258
Author(s):  
Jeonghwan Lee ◽  
Lailu Li ◽  
Sung Yul Shin ◽  
Ashish D. Deshpande ◽  
James Sulzer
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Robotic Gait
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