0
Research Papers

Single-Vertex Multicrease Rigid Origami With Nonzero Thickness and Its Transformation Into Deployable Mechanisms

[+] Author and Article Information
Chenhan Guang

School of Mechanical Engineering
and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100083, China
e-mail: guangchenhan@foxmail.com

Yang Yang

School of Mechanical Engineering
and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100083, China
e-mail: yang_mech@126.com

1Corresponding author.

Manuscript received May 26, 2017; final manuscript received November 26, 2017; published online December 22, 2017. Assoc. Editor: Jian S Dai.

J. Mechanisms Robotics 10(1), 011010 (Dec 22, 2017) (10 pages) Paper No: JMR-17-1162; doi: 10.1115/1.4038685 History: Received May 26, 2017; Revised November 26, 2017

The radial folding ratio of single-vertex multicrease rigid origami, from the folded configuration to the unfolded configuration, is satisfactory. In this study, we apply two approaches to add nonzero thickness for this kind of origami and identify different geometrical characteristics. Then, the model of the secondary folding origami, which can help to further decrease the folding ratio, is constructed. We apply the method of constraining the edges of the panels on prescribed planes to geometrically obtain the kinematic model. Based on the kinematic model and the screw theory, the nonzero thickness origami is transformed into the deployable mechanism with one degree-of-freedom (1DOF). Other similar mechanisms can be derived based on this basic configuration. The computer-aided design examples are presented to indicate the feasibility.

Copyright © 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Abel, Z. , Cantarella, J. , Demaine, E. D. , Eppstein, D. , Hull, T. C. , Ku, J. S. , Lang, R. J. , and Tachi, T. , 2016, “ Rigid Origami Vertices: Conditions and Forcing Sets,” J. Comput. Geom., 7(1), pp. 171–184.
Wu, W. , and You, Z. , 2010, “ Modelling Rigid Origami With Quaternions and Dual Quaternions,” Proc. Math. Phys. Eng. Sci., 466(2119), pp. 2155–2174. [CrossRef]
Liu, S. , Weilin, L. V. , Chen, Y. , and Guoxing, L. U. , 2016, “ Deployable Prismatic Structures With Rigid Origami Patterns,” ASME J. Mech. Rob., 8(3), p. 031002. [CrossRef]
Liu, X. , Gattas, J. M. , and Chen, Y. , 2016, “ One-DOF Superimposed Rigid Origami With Multiple States,” Sci. Rep., 6, p. 36883. [CrossRef] [PubMed]
Wei, G. , and Dai, J. S. , 2014, “ Origami-Inspired Integrated Planar-Spherical Overconstrained Mechanisms,” ASME J. Mech. Des., 136(5), p. 051003. [CrossRef]
Tachi, T. , 2011, “ Rigid Foldable Thick Origami,” Origami 5: Fifth International Meeting of Origami Science, Mathematics, and Education, CRC Press, Boca Raton, FL, pp. 253–264.
Edmondson, B. J. , Lang, R. J. , and Magleby, S. P. , 2014, “An Offset Panel Technique for Thick Rigidily Foldable Origami,” ASME Paper No. DETC2014-35606.
Chen, Y. , Peng, R. , and You, Z. , 2015, “ Origami of Thick Panels,” Science, 349(6246), pp. 396–400. [CrossRef] [PubMed]
Salerno, M. , Zhang, K. , Menciassi, A. , and Dai, J. S. , 2014, “A Novel 4-DOFs Origami Enabled, SMA Actuated, Robotic End-Effector for Minimally Invasive Surgery,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31–June 7, pp. 2844–2849.
Zirbel, S. A. , Lang, R. J. , Thomson, M. W. , Sigel, D. A. , Walkemeyer, P. E. , Trease, B. P. , Magleby, S. P. , and Howell, L. L. , 2013, “ Accommodating Thickness in Origami-Based Deployable Arrays,” ASME J. Mech. Des., 135(11), p. 111005. [CrossRef]
Belke, C. H. , and Paik, J. , 2017, “ Mori: A Modular Origami Robot,” IEEE/ASME Trans. Mechatronics, 22(5), pp. 2153–2164. [CrossRef]
Zhang, K. , Qiu, C. , and Dai, J. S. , 2015, “ Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators,” ASME J. Mech. Rob., 7(2), p. 021014. [CrossRef]
Zhang, K. , Qiu, C. , and Dai, J. S. , 2016, “ An Extensible Continuum Robot With Integrated Origami Parallel Modules,” ASME J. Mech. Rob., 8(3), p. 031010. [CrossRef]
Hanna, B. H. , Lund, J. M. , Lang, R. J. , Magleby, S. P. , and Howell, L. L. , 2014, “ Waterbomb Base: A Symmetric Single-Vertex Bistable Origami Mechanism,” Smart Mater. Struct., 23(9), p. 094009. [CrossRef]
You, Z. , and Pellegrino, S. , 1997, “ Cable-Stiffened Pantographic Deployable Structures—Part 2: Mesh Reflector,” AIAA J., 35(8), pp. 1348–1355. [CrossRef]
Chu, Z. , Deng, Z. , Qi, X. , and Li, B. , 2014, “ Modeling and Analysis of a Large Deployable Antenna Structure,” Acta Astronaut., 95(1), pp. 51–60. [CrossRef]
Qi, X. , Huang, H. , Li, B. , and Deng, Z. , 2016, “ A Large Ring Deployable Mechanism for Space Satellite Antenna,” Aerosp. Sci. Technol., 58, pp. 498–510. [CrossRef]
Chen, Y. , 2003, “Design of Structural Mechanisms,” Ph.D. thesis, University of Oxford, Oxford, UK. http://www.eng.ox.ac.uk/civil/publications/theses/chen.pdf
Liu, S. Y. , and Chen, Y. , 2009, “ Myard Linkage and Its Mobile Assemblies,” Mech. Mach. Theory, 44(10), pp. 1950–1963. [CrossRef]
Qi, X. , Huang, H. , Miao, Z. , Li, B. , and Deng, Z. , 2016, “ Design and Mobility Analysis of Large Deployable Mechanisms Based on Plane-Symmetric Bricard Linkage,” ASME J. Mech. Des., 139(2), p. 022302. [CrossRef]
Huang, H. , Deng, Z. , and Li, B. , 2012, “ Mobile Assemblies of Large Deployable Mechanisms,” JSME J. Space Eng., 5(1), pp. 1–14. [CrossRef]
Dai, J. S. , Huang, Z. , and Lipkin, H. , 2004, “ Mobility of Overconstrained Parallel Mechanisms,” ASME J. Mech. Des., 128(1), pp. 220–229. [CrossRef]
Huang, Z. , Zhao, Y. S. , and Zhao, T. S. , 2014, Advanced Spatial Mechanism, Higher Education Press, Beijing, China, Chap. 2.

Figures

Grahic Jump Location
Fig. 1

Examples of the single-vertex multicrease rigid origami: (a) unfolded configuration when j = 6, (b) middle configuration when j = 6, (c) folded configuration when j = 6, (d) unfolded configuration when j = 16, (e) middle configuration when j = 16, and (f) folded configuration when j = 16

Grahic Jump Location
Fig. 2

Example of nonzero thickness rigid origami based on axis-shift method: (a) a unit, (b) unfolded configuration, (c) middle configuration, and (d) folded configuration

Grahic Jump Location
Fig. 3

Direction view of folded configuration based on axis-shift method: (a) front view and (b) top view

Grahic Jump Location
Fig. 4

Example of nonzero thickness rigid origami based on tapered panel method: (a) a unit, (b) unfolded configuration, (c) middle configuration, and (d) folded configuration

Grahic Jump Location
Fig. 5

Direction view of folded configuration based on tapered panel method: (a) front view and (b) top view

Grahic Jump Location
Fig. 12

Constraint and analysis of a nonzero thickness portion (the lines and the curves in the same color are all on the same plane)

Grahic Jump Location
Fig. 11

Folding/unfolding process of a combined rigid origami based on axis-shift method and four-part divided portion: (a) secondary folded configuration, (b) middle configuration, (c) folded configuration, (d) middle configuration, and (e) unfolded configuration

Grahic Jump Location
Fig. 10

Folding/unfolding processes of a portion divided into several parts: (a) divided into four parts and (b) divided into five parts

Grahic Jump Location
Fig. 9

Redundant material: (a) redundant material of group based on axis-shift method and (b) redundant material of group based on tapered panel method

Grahic Jump Location
Fig. 7

Surface of d/D in the folded configuration based on tapered panel method: (a) variation of d/D with changing j and h/R and (b) variation of d/D with changing j and fixed h/R (h/R=1/18)

Grahic Jump Location
Fig. 6

Surface of d/D in the folded configuration based on axis-shift method: (a) variation of d/D with changing j and h/R and (b) variation of d/D with changing j and fixed h/R (h/R=1/18)

Grahic Jump Location
Fig. 14

Transformed model of a portion

Grahic Jump Location
Fig. 16

Axes shifted model

Grahic Jump Location
Fig. 13

Variation of parameters with changing θ, when α=π/10 (a) variation of the angles and (b) variation of the ratio

Grahic Jump Location
Fig. 15

Transformed model of a unit: (a) model without removing the linkages and (b) model with the linkages removed

Grahic Jump Location
Fig. 17

Deployable mechanism: (a) mechanism of a unit, (b) mechanism in folded configuration, (c) mechanism in unfolding configuration, and (d) mechanism in unfolded/deployed configuration

Grahic Jump Location
Fig. 18

Secondary deployable mechanism: (a) mechanism of a unit, (b) mechanism in secondary folded configuration, (c) mechanism in unfolding configuration, (d) mechanism in folded configuration, (e) mechanism in unfolding configuration, and (f) mechanism in unfolded/deployed configuration

Tables

Errata

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In