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Research Papers

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

[+] Author and Article Information
Shuhei Miyashita

Computer Science and Artificial
Intelligence Laboratory,
Massachusetts Institute of Technology,
Cambridge, MA 02139
e-mail: shuheim@csail.mit.edu

Isabella DiDio

Computer Science and Artificial
Intelligence Laboratory,
Massachusetts Institute of Technology,
Cambridge, MA 02139
e-mail: ididio@mit.edu

Ishwarya Ananthabhotla

Computer Science and Artificial
Intelligence Laboratory,
Massachusetts Institute of Technology,
Cambridge, MA 02139
e-mail: ishwarya@mit.edu

Byoungkwon An

Autodesk Research,
San Francisco, CA 94111
e-mail: kwon.an@autodesk.com

Cynthia Sung

Computer Science and Artificial
Intelligence Laboratory,
Massachusetts Institute of Technology,
Cambridge, MA 02139
e-mail: crsung@mit.edu

Slava Arabagi

Boston Children's Hospital,
Harvard University,
Boston, MA 02115
e-mail: badeaslava@gmail.com

Daniela Rus

Computer Science and Artificial
Intelligence Laboratory,
Massachusetts Institute of Technology,
Cambridge, MA 02139
e-mail: rus@csail.mit.edu

Manuscript received August 15, 2014; final manuscript received January 7, 2015; published online February 27, 2015. Assoc. Editor: Aaron M. Dollar.

J. Mechanisms Robotics 7(2), 021013 (May 01, 2015) (8 pages) Paper No: JMR-14-1216; doi: 10.1115/1.4029548 History: Received August 15, 2014; Revised January 07, 2015; Online February 27, 2015

This paper describes a method for manufacturing complex three-dimensional curved structures by self-folding layered materials. Our main focus is to first show that the material can cope with curved crease self-folding and then to utilize the curvature to predict the folding angles. The self-folding process employs uniform heat to induce self-folding of the material and shows the successful generation of several types of propellers as a proof of concept. We further show the resulting device is functional by demonstrating its levitation in the presence of a magnetic field applied remotely.

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Copyright © 2015 by ASME
Topics: Propellers , Blades , Design
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References

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Figures

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Fig. 1

Curved crease folding. (a) Superellipse curves of n = 1.5, n = 2, and n = 4. The rulings and corresponding β are defined. (b) The folding angle α over arc lengths s.

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Fig. 2

Simulated folding angles α, for n = 1.5, 2, and 4, with different conditions of αend. Experimental results of αend and αmiddle are superimposed.

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Fig. 3

Change of αmiddle over n for αend = (Γ – γ + π)/2 (upper curve) and αend = Γ – γ (lower curve). As a general trend, the larger n becomes, the more acutely it folds.

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Fig. 4

4-blade origami propeller. (a) The crease pattern. (b) Folded propeller in top view.

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Fig. 5

3-blade origami propeller. (a) The crease pattern. (b) Folded propeller in top view.

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Fig. 6

Three layer structure for the heat-sensitive self-folding method [16]

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Fig. 7

Automated self-folding crease pattern generation. (a) The user interface. (b) Front and back crease pattern of a 3-blade propeller. (c) Crease pattern of a 5-blade propeller. In a curved crease, a superellipse and a straight line are connected smoothly at an inclination of 45 deg.

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Fig. 8

Self-folded curved creases with different curvature patterns. (a) The snapshots of the n = 2 model while self-folding. (b) Self-folded curved creases (n = 1.5, 2, 4 from left to right, respectively).

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Fig. 9

Self-folding 4-blade propellers (n = 2 model). The whole process was completed in about 3 min.

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Fig. 10

Self-folded 4-blade propellers. (a) The angled view. (b) Comparison of angle of attack of n = 1.5, n = 2, and n = 4 propellers.

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Fig. 11

Self-folded 3-blade propeller (left) and 5-blade propeller (right)

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Fig. 12

Attained levitation of origami propellers. (a) Snapshots of levitation from n = 2 propeller. (b) Height of levitation over time.

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Fig. 13

The developed electromagnetic coil system

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