Nonlinear mechanics of non-rigid origami: an efficient computational approach

Untethered bistable origami crawler for confined applications

Magnetically actuated miniature origami crawlers are capable of robust locomotion in confined environments but are limited to passive functionalities. Here, we propose a bistable origami crawler that can shape-morph to access two separate regimes of folding degrees of freedom that are separated by an energy barrier. Using the modified bistable V-fold origami crease pattern as the fundamental unit of the crawler, we incorporated internal permanent magnets to enable untethered shape-morphing. By modulating the orientation of the external magnetic field, the crawler can reconfigure between an undeployed locomotion state and a deployed load-bearing state. In the undeployed state, the crawler can deform to enable out-of-plane crawling for robust bi-directional locomotion and navigation in confined environments based on friction anisotropy. In the deployed state, the crawler can execute microneedle insertion in confined environments. Through this work, we demonstrated the advantage of incorporating bistability into origami mechanisms to expand their capabilities in space-constraint applications.

Tunable wave coupling in periodically rotated Miura-ori tubes

Origami folding structures are vital in shaping programmable mechanical material properties. Of particular note, tunable dynamical properties of elastic wave propagation in origami structures have been reported. Despite the promising features of origami metamaterials, the influence of the kinematics of tessellated origami structures on elastic wave propagation remain unexplored. This study proposes elastic metamaterials using connected Miura-ori tubes, the kinematics of which are coupled by folding and unfolding motions in a tubular axis; achieved by periodically connecting non-rotated and rotated Miura-ori tubes. The kinematics generate wave modes with localized deformations within the unit cell of the metamaterials, affecting the global elastic deformation of Miura-ori tubes via the coupling of wave modes. Dispersion analysis, using the generalized Bloch wave framework based on bar-and-hinge models, verifies the influence of kinematics in the connected tubes on elastic wave propagation. Furthermore, folding the connected tubes changes the coupling strength of wave modes between the kinematics and global elastic deformation of the tubes by breaking the ideal kinematics. The coupling of wave modescontributes to the formation of the band gaps and their tunability. These findings enable adaptive and in situ tunability of band structures to prohibit elastic waves in the desired frequency ranges.This article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

Lagrangian approach to origami vertex analysis: kinematics

The use of origami in engineering has significantly expanded in recent years, spanning deployable structures across scales, folding robotics and mechanical metamaterials. However, finding foldable paths can be a formidable task as the kinematics are determined by a nonlinear system of equations, often with several degrees of freedom. In this article, we leverage a Lagrangian approach to derive reduced-order compatibility conditions for rigid-facet origami vertices with reflection and rotational symmetries. Then, using the reduced-order conditions, we derive exact, multi-degree of freedom solutions for degree 6 and degree 8 vertices with prescribed symmetries. The exact kinematic solutions allow us to efficiently investigate the topology of allowable kinematics, including the consideration of a self-contact constraint, and then visually interpret the role of geometric design parameters on these admissible fold paths by monitoring the change in the kinematic topology. We then introduce a procedure to construct lower-symmetry kinematic solutions by breaking symmetry of higher-order kinematic solutions in a systematic way that preserves compatibility. The multi-degree of freedom solutions discovered here should assist with building intuition of the kinematic feasibility of higher-degree origami vertices and also facilitate the development of new algorithmic procedures for origami-engineering design.This article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

Improving mass lumping and stiffness parameters of bar and hinge model for accurate modal dynamics of origami structures

The bar and hinge framework uses truss elements and rotational springs to efficiently model the structural behaviour of origami. The framework is especially useful to investigate origami metamaterials as they have repeating geometry, which makes conventional finite element simulations very expensive due to a large number of degrees of freedom. This work proposes improvements to the parameters of bar and hinge model within the context of structural dynamics, specifically modal analysis under small deformations, which has not been carried out previously in the literature. A range of low-frequency modes involving origami folding and panel bending deformations that can be accurately captured by the bar and hinge framework are identified. Within this range, bar and hinge parameters like the lumped masses and the rotational spring stiffness values are derived using conservation laws and finite element tests. The best among the proposed schemes is found to predict natural frequencies of the considered origami structures to within 10% maximum error, improving the accuracy by more than three times from existing schemes. In most cases, the errors in natural frequencies are less than 5%. This article is part of the theme issue 'Origami/Kirigami-inspired structures: from fundamentals to applications'.

Self-locking and stiffening deployable tubular structures

Deployable tubular structures, designed for functional expansion, serve a wide range of applications, from flexible pipes to stiff structural elements. These structures, which transform from compact states, are crucial for creating adaptive solutions across engineering and scientific fields. A significant barrier to advancing their performance is balancing expandability with stiffness. Using compliant materials, these structures achieve more flexible transformations than those possible with rigid mechanisms. However, they typically exhibit reduced stiffness when subjected to external pressures (e.g., tube wall loading). Here, we utilize origami-inspired techniques and internal stiffeners to meet conflicting performance requirements. A self-locking mechanism is proposed, which combines the folding behavior observed in curved-crease origami and elastic shell buckling. This mechanism employs simple shell components, including internal diaphragms that undergo pseudofolding in a confined boundary condition to enable a snap-through transition. We reveal that the deployed tube is self-locked through geometrical interference, creating a braced tubular arrangement. This arrangement gives a direction-dependent structural performance, ranging from elastic response to crushing, thereby offering the potential for programmable structures. We demonstrate that our approach can advance existing deployment mechanisms (e.g., coiled and inflatable systems) and create diverse structural designs (e.g., metamaterials, adaptive structures, cantilevers, and lightweight panels).Weanticipate our design to be a starting point to drive technological advancement in real-world deployable tubular structures.

Skyrmion engineering with origami

Skyrmion structures play critical roles in solid-state systems involving electric, magnetic and optical fields. Previous approaches to the study of skyrmions have involved specific structures in magnetic materials, liquid crystals and polymers in addition to two-dimensional arrays used for electrical control. These methods have encountered limitations and constraints on both the microscopic and macroscopic scales related to the physical properties of materials. The present work demonstrates an origami-based skyrmion engineering strategy that suggests a new approach to topological control. This technique utilizes the unique properties of orientational origami, combining polarization techniques with rotationally symmetric, periodically folded designs. This strategy enables the transformation of flat sheets into three-dimensional structures with associated changes in optical topology, similar to the characteristics of proteins. Topological defects such as misalignments and dislocations in folded molecularly oriented sheets lead to the creation of skyrmion clusters at boundaries having different orientational orders. The strategy reported herein involves the construction of unique metamaterial platforms that could provide new applications for twistronics in graphene and photonic crystals.

Robotic flytrap with an ultra-sensitive 'trichome' and fast-response 'lobes'

Nature abounds with examples of ultra-sensitive perception and agile body transformation for highly efficient predation as well as extraordinary adaptation to complex environments. Flytraps, as a representative example, could effectively detect the most minute physical stimulation of insects and respond instantly, inspiring numerous robotic designs and applications. However, current robotic flytraps face challenges in reproducing the ultra-sensitive insect-touch perception. In addition, fast and fully-covered capture of live insects with robotic flytraps remains elusive. Here we report a novel design of a robotic flytrap with an ultra-sensitive 'trichome' and bistable fast-response 'lobes'. Our results show that the 'trichome' of the proposed robotic flytrap could detect and respond to both the external stimulation of 0.45 mN and a tiny touch of a flying bee with a weight of 0.12 g. Besides, once the 'trichome' is triggered, the bistable 'lobes' could instantly close themselves in 0.2 s to form a fully-covered cage to trap the bees, and reopen to set them free after the tests. We introduce the design, modeling, optimization, and verification of the robotic flytrap, and envision broader applications of this technology in ultra-sensitive perception, fast-response grasping, and biomedical engineering studies.

Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation

Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.

Large-scale modular and uniformly thick origami-inspired adaptable and load-carrying structures

Existing Civil Engineering structures have limited capability to adapt their configurations for new functions, non-stationary environments, or future reuse. Although origami principles provide capabilities of dense packaging and reconfiguration, existing origami systems have not achieved deployable metre-scale structures that can support large loads. Here, we established modular and uniformly thick origami-inspired structures that can deploy into metre-scale structures, adapt into different shapes, and carry remarkably large loads. This work first derives general conditions for degree-N origami vertices to be flat foldable, developable, and uniformly thick, and uses these conditions to create the proposed origami-inspired structures. We then show that these origami-inspired structures can utilize high modularity for rapid repair and adaptability of shapes and functions; can harness multi-path folding motions to reconfigure between storage and structural states; and can exploit uniform thickness to carry large loads. We believe concepts of modular and uniformly thick origami-inspired structures will challenge traditional practice in Civil Engineering by enabling large-scale, adaptable, deployable, and load-carrying structures, and offer broader applications in aerospace systems, space habitats, robotics, and more.

Multi-Stability of the Extensible Origami Structures

Multi-stable structures and metamaterials with more than two stable states are widely applied in diversified engineering applications. Non-rigid foldable origami patterns have provided an effective way of designing multi-stable structures. But most of them have only two stable states and therefore require a combination of many units to achieve multi-stability. Here, a series of extensible origami structures are proposed with generic multi-stability based on non-rigid wrapping origami. Through a kinematic analysis and experiments, it is demonstrate that a sequential folding among different layers of the structures is created to generate a continuous rigid origami range and several discrete rigid origami states, which consequently leads to the multi-stability of the extensible origami structures. Moreover, the effects of design parameters on the mechanical properties of the structures are investigated by numerical simulation, enabling properties programmability upon specific needs. This study thus paves a new pathway for the development of novel multi-stable origami structures.

Controlling the configuration space topology of mechanical structures

Linkages are mechanical devices constructed from rigid bars and freely rotating joints studied both for their utility in engineering and as mathematical idealizations in a number of physical systems. Recently, there has been a resurgence of interest in designing linkages in the physics community due to the concurrent developments of mechanical metamaterials, topological mechanics, and the discovery of anomalous rigidity in fiber networks and vertex models. These developments raise a natural question: to what extent can the motion of a linkage or mechanical structure be designed? Here, we describe a method to design the topology of the configuration space of a linkage by first identifying the manifold of critical points, then perturbing around such critical configurations. Unlike other methods, our methods are tractable and provide a simple visual toolkit for mechanism design. We demonstrate our procedure by designing a mechanism to gate the propagation of a soliton in a Kane-Lubensky chain of interconnected rotors.

Triclinic Metamaterials by Tristable Origami with Reprogrammable Frustration

Geometrical-frustration-induced anisotropy and inhomogeneity are explored to achieve unique properties of metamaterials that set them apart from conventional materials. According to Neumann's principle, to achieve anisotropic responses, the material unit cell should possess less symmetry. Based on such guidelines, a triclinic metamaterial system of minimal symmetry is presented, which originates from a Trimorph origami pattern with a simple and insightful geometry: a basic unit cell with four tilted panels and four corresponding creases. The intrinsic geometry of the Trimorph origami, with its changing tilting angles, dictates a folding motion that varies the primitive vectors of the unit cell, couples the shear and normal strains of its extrinsic bulk, and leads to an unusual Poisson effect. Such an effect, associated with reversible auxeticity in the changing triclinic frame, is observed experimentally, and predicted theoretically by elegant mathematical formulae. The nonlinearities of the folding motions allow the unit cell to display three robust stable states, connected through snapping instabilities. When the tristable unit cells are tessellated, phenomena that resemble linear and point defects emerge as a result of geometric frustration. The frustration is reprogrammable into distinct stable and inhomogeneous states by arbitrarily selecting the location of a single or multiple point defects. The Trimorph origami demonstrates the possibility of creating origami metamaterials with symmetries that are hitherto nonexistent, leading to triclinic metamaterials with tunable anisotropy for potential applications such as wave propagation control and compliant microrobots.

Conical Kresling origami and its applications to curvature and energy programming

Kresling origami has recently been widely used to design mechanical metamaterials, soft robots and smart devices, benefiting from its bistability and compression-twist coupling deformation. However, previous studies mostly focus on the traditional parallelogram Kresling patterns which can only be folded to cylindrical configurations. In this paper, we generalize the Kresling patterns by introducing free-form quadrilateral unit cells, leading to diverse conical folded configurations. The conical Kresling origami is modelled with a truss system, by which the stable states and energy landscapes are derived analytically. We find that the generalization preserves the bistable nature of parallelogram Kresling patterns, while enabling an enlarged design space of geometric parameters for structural and mechanical applications. To demonstrate this, we develop inverse design frameworks to employ conical Kresling origami to approximate arbitrary target surfaces of revolution and achieve prescribed energy landscapes. Various numerical examples obtained from our framework are presented, which agree well with the paper models and the finite-element simulations. We envision that the proposed conical Kresling pattern and inverse design framework can provide a new perspective for applications in deployable structures, shape-morphing devices, multi-modal robots and multistable metamaterials.

Physical reservoir computing with origami and its application to robotic crawling

A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive simulations based on a dynamic truss-frame model, this study shows that an origami structure can perform as a dynamic reservoir with sufficient computing power to emulate high-order nonlinear systems, generate stable limit cycles, and modulate outputs according to dynamic inputs. This study also uncovers the linkages between the origami reservoir's physical designs and its computing power, offering a guideline to optimize the computing performance. Comprehensive parametric studies show that selecting optimal feedback crease distribution and fine-tuning the underlying origami folding designs are the most effective approach to improve computing performance. Furthermore, this study shows how origami's physical reservoir computing power can apply to soft robotic control problems by a case study of earthworm-like peristaltic crawling without traditional controllers. These results can pave the way for origami-based robots with embodied mechanical intelligence.

Multistable inflatable origami structures at the metre scale

From stadium covers to solar sails, we rely on deployability for the design of large-scale structures that can quickly compress to a fraction of their size^1-4. Historically, two main strategies have been used to design deployable systems. The first and most frequently used approach involves mechanisms comprising interconnected bar elements, which can synchronously expand and retract^5-7, occasionally locking in place through bistable elements^8,9. The second strategy makes use of inflatable membranes that morph into target shapes by means of a single pressure input^10-12. Neither strategy, however, can be readily used to provide an enclosed domain that is able to lock in place after deployment: the integration of a protective covering in linkage-based constructions is challenging and pneumatic systems require a constant applied pressure to keep their expanded shape^13-15. Here we draw inspiration from origami-the Japanese art of paper folding-to design rigid-walled deployable structures that are multistable and inflatable. Guided by geometric analyses and experiments, we create a library of bistable origami shapes that can be deployed through a single fluidic pressure input. We then combine these units to build functional structures at the metre scale, such as arches and emergency shelters, providing a direct route for building large-scale inflatable systems that lock in place after deployment and offer a robust enclosure through their stiff faces.

Robotic surfaces with reversible, spatiotemporal control for shape morphing and object manipulation

Continuous and controlled shape morphing is essential for soft machines to conform, grasp, and move while interacting safely with their surroundings. Shape morphing can be achieved with two-dimensional (2D) sheets that reconfigure into target 3D geometries, for example, using stimuli-responsive materials. However, most existing solutions lack the ability to reprogram their shape, face limitations on attainable geometries, or have insufficient mechanical stiffness to manipulate objects. Here, we develop a soft, robotic surface that allows for large, reprogrammable, and pliable shape morphing into smooth 3D geometries. The robotic surface consists of a layered design composed of two active networks serving as artificial muscles, one passive network serving as a skeleton, and cover scales serving as an artificial skin. The active network consists of a grid of strips made of heat-responsive liquid crystal elastomers (LCEs) containing stretchable heating coils. The magnitude and speed of contraction of the LCEs can be controlled by varying the input electric currents. The 1D contraction of the LCE strips activates in-plane and out-of-plane deformations; these deformations are both necessary to transform a flat surface into arbitrary 3D geometries. We characterize the fundamental deformation response of the layers and derive a control scheme for actuation. We demonstrate that the robotic surface provides sufficient mechanical stiffness and stability to manipulate other objects. This approach has potential to address the needs of a range of applications beyond shape changes, such as human-robot interactions and reconfigurable electronics.

Folding photopolymerized origami sheets by post-curing

The paper presents a novel manufacturing approach to fabricate origami based on 3D printing utilizing digital light processing. Specifically, we propose to leave part of the model uncured during the printing step, and then cure it in the post-processing step to set the shape in a folded configuration. While the cured regions in the first step try to regain their unfolded shape, the regions cured in the second step attempt to keep their folded shape. As a result, the final shape is obtained when both regions’ stresses reach equilibrium. Finite element analysis is performed in ANSYS to obtain the stress distribution on common hinge designs, demonstrating that the square-hinge has a lower maximum principal stress than elliptical and triangle hinges. Based on the square-hinge and rectangular cavity, two variables—the hinge width and the cavity height—are selected as principal variables to construct an empirical model with the final folding angle. In the end, experimental verification shows that the developed method is valid and reliable to realize the proposed deformation and 3D development of 2D hinges.

Untethered control of functional origami microrobots with distributed actuation

Deployability, multifunctionality, and tunability are features that can be explored in the design space of origami engineering solutions. These features arise from the shape-changing capabilities of origami assemblies, which require effective actuation for full functionality. Current actuation strategies rely on either slow or tethered or bulky actuators (or a combination). To broaden applications of origami designs, we introduce an origami system with magnetic control. We couple the geometrical and mechanical properties of the bistable Kresling pattern with a magnetically responsive material to achieve untethered and local/distributed actuation with controllable speed, which can be as fast as a tenth of a second with instantaneous shape locking. We show how this strategy facilitates multimodal actuation of the multicell assemblies, in which any unit cell can be independently folded and deployed, allowing for on-the-fly programmability. In addition, we demonstrate how the Kresling assembly can serve as a basis for tunable physical properties and for digital computing. The magnetic origami systems are applicable to origami-inspired robots, morphing structures and devices, metamaterials, and multifunctional devices with multiphysics responses.

Big influence of small random imperfections in origami-based metamaterials

Origami structures demonstrate great theoretical potential for creating metamaterials with exotic properties. However, there is a lack of understanding of how imperfections influence the mechanical behaviour of origami-based metamaterials, which, in practice, are inevitable. For conventional materials, imperfection plays a profound role in shaping their behaviour. Thus, this paper investigates the influence of small random geometric imperfections on the nonlinear compressive response of the representative Miura-ori, which serves as the basic pattern for many metamaterial designs. Experiments and numerical simulations are used to demonstrate quantitatively how geometric imperfections hinder the foldability of the Miura-ori, but on the other hand, increase its compressive stiffness. This leads to the discovery that the residual of an origami foldability constraint, given by the Kawasaki theorem, correlates with the increase of stiffness of imperfect origami-based metamaterials. This observation might be generalizable to other flat-foldable patterns, in which we address deviations from the zero residual of the perfect pattern; and to non-flat-foldable patterns, in which we would address deviations from a finite residual.

Non-Euclidean origami

Traditional origami starts from flat surfaces, leading to crease patterns consisting of Euclidean vertices. However, Euclidean vertices are limited in their folding motions, are degenerate, and suffer from misfolding. Here we show how non-Euclidean 4-vertices overcome these limitations by lifting this degeneracy, and that when the elasticity of the hinges is taken into account, non-Euclidean 4-vertices permit higher order multistability. We harness these advantages to design an origami inverter that does not suffer from misfolding and to physically realize a tristable vertex.

Dynamics of Kresling origami deployment

Origami-inspired structures have a rich design space, offering new opportunities for the development of deployable systems that undergo large and complex yet predictable shape transformations. There has been growing interest in such structural systems that can extend uniaxially into tubes and booms. The Kresling origami pattern, which arises from the twist buckling of a thin cylinder and can exhibit multistability, offers great potential for this purpose. However, much remains to be understood regarding the characteristics of Kresling origami deployment. Prior studies have been limited to Kresling structures' kinematics, quasistatic mechanics, or low-amplitude wave responses, while their dynamic behaviors with large shape change during deployment remain unexplored. These dynamics are critical to the system design and control processes, but are complex due to the strong nonlinearity, bistability, and potential for off-axis motions. To advance the state of the art, this research seeks to uncover the deployment dynamics of Kresling structures with various system geometries and operating strategies. A full, six-degrees-of-freedom model is developed and employed to provide insight into the axial and off-axis dynamic responses, revealing that the variation of key geometric parameters may lead to regions with qualitatively distinct mechanical responses. Results illustrate the sensitivity of dynamic deployment to changes in initial condition and small variations in geometric design. Further, analyses show how certain geometries and configurations affect the stiffness of various axial and off-axis deformation modes, offering guidance on the design of systems that deploy effectively while mitigating the effects of off-axis disturbances. Overall, the research outcomes suggest the strong potential of Kresling-based designs for deployable systems with robust and tunable performance.

Mechanics of generically creased disks

Folded structures are often idealized as a series of rigid faces connected by creases acting as revolute hinges. However, real folded structures can deform between creases. An example of particular interest is a disk decorated by multiple radial creases. Such disks are bistable, snapping between a "natural" and "inverted" shape. We investigate the mechanical behavior of these creased disks and propose a new analytical approach to describe their mechanics. Detailed experiments are performed which show that, when indented at the center, a localized dimple forms, precluding the conical shape assumed in previous studies. As the indentation depth increases this dimple expands radially until reaching the disk edge when it snaps to the inverted shape, which has a conical form. We develop an analytical model which approximates each face as a series of rigid facets connected by hinges that can both rotate and stretch. Energy expressions are derived relating hinge rotation and stretching to compatible shell deformations of the facets and equilibrium enforced by minimizing the total strain energy. By increasing the number of facets, the mechanics of the continuum shell is approached asymptotically. The analysis shows that membrane stretching of the faces is required when a conical form of deformation is enforced. However, in the limit of zero thickness, the forming and propagation of a localized dimple is inextensional. This new approach relates the kinematic analysis of rigid origami to the mechanics of thin shells, offering an efficient method to predict the behavior of folded structures.

Folding of Tubular Waterbomb

Origami has recently emerged as a promising building block of mechanical metamaterials because it offers a purely geometric design approach independent of scale and constituent material. The folding mechanics of origami-inspired metamaterials, i.e., whether the deformation involves only rotation of crease lines (rigid origami) or both crease rotation and facet distortion (nonrigid origami), is critical for fine-tuning their mechanical properties yet very difficult to determine for origami patterns with complex behaviors. Here, we characterize the folding of tubular waterbomb using a combined kinematic and structural analysis. We for the first time uncover that a waterbomb tube can undergo a mixed mode involving both rigid origami motion and nonrigid structural deformation, and the transition between them can lead to a substantial change in the stiffness. Furthermore, we derive theoretically the range of geometric parameters for the transition to occur, which paves the road to program the mechanical properties of the waterbomb pattern. We expect that such analysis and design approach will be applicable to more general origami patterns to create innovative programmable metamaterials, serving for a wide range of applications including aerospace systems, soft robotics, morphing structures, and medical devices.

Equilibria and bifurcations of a foldable paper-based spring inspired by Kresling-pattern origami

Origami-inspired design has recently emerged as a major thrust area of research in the fields of science and engineering. One such design utilizes Kresling-pattern origami to construct nonlinear springs that can act as mechanical bit memory switches, wave guides, fluidic muscles, and vibration isolators. The main objective of this work is to characterize the static equilibria of such springs, their stability, and bifurcations as the geometric parameters of the Kresling pattern are varied. To this end, a mathematical model which assumes that the different panels can be represented by axially deformable truss elements is adopted. The adopted model demonstrates that the shape of the potential energy of the spring is very sensitive to changes in its geometric parameters. This causes the static configuration to undergo several bifurcations as one or more of the geometrical parameters are varied. In particular, it is shown that the geometric parameter space of the Kresling pattern can be divided into five regions, each of which results in a qualitatively different spring behavior. Results of the axial truss model are verified experimentally demonstrating that, for the most part, the model is capable of predicting the loci and bifurcations of the spring's equilibria. Nevertheless, it is also observed that, away from the equilibrium points, the quasistatic behavior of the spring is not well-approximated by the axial truss model. To overcome this issue, a modified model is developed which accounts for (i) the rotary stiffness of the creases, (ii) self avoidance due to panel contact at small angles between the panels, and (iii) buckling of the creases under compressive loads. It is shown that the modified model is capable of providing a better overall qualitative approximation of the quasistatic behavior.

An efficient numerical approach for simulating contact in origami assemblages

Origami-inspired structures provide novel solutions to many engineering applications. The presence of self-contact within origami patterns has been difficult to simulate, yet it has significant implications for the foldability, kinematics and resulting mechanical properties of the final origami system. To open up the full potential of origami engineering, this paper presents an efficient numerical approach that simulates the panel contact in a generalized origami framework. The proposed panel contact model is based on the principle of stationary potential energy and assumes that the contact forces are conserved. The contact potential is formulated such that both the internal force vector and the stiffness matrix approach infinity as the distance between the contacting panel and node approaches zero. We use benchmark simulations to show that the model can correctly capture the kinematics and mechanics induced by contact. By tuning the model parameters accordingly, this methodology can simulate the thickness in origami. Practical examples are used to demonstrate the validity, efficiency and the broad applicability of the proposed model.

Invariant and smooth limit of discrete geometry folded from bistable origami leading to multistable metasurfaces

Origami offers an avenue to program three-dimensional shapes via scale-independent and non-destructive fabrication. While such programming has focused on the geometry of a tessellation in a single transient state, here we provide a complete description of folding smooth saddle shapes from concentrically pleated squares. When the offset between square creases of the pattern is uniform, it is known as the pleated hyperbolic paraboloid (hypar) origami. Despite its popularity, much remains unknown about the mechanism that produces such aesthetic shapes. We show that the mathematical limit of the elegant shape folded from concentrically pleated squares, with either uniform or non-uniform (e.g. functionally graded, random) offsets, is invariantly a hyperbolic paraboloid. Using our theoretical model, which connects geometry to mechanics, we prove that a folded hypar origami exhibits bistability between two symmetric configurations. Further, we tessellate the hypar origami and harness its bistability to encode multi-stable metasurfaces with programmable non-Euclidean geometries.

Geometric and Kinematic Analyses and Novel Characteristics of Origami-Inspired Structures

In recent years, origami structures have been gradually applied in aerospace, flexible electronics, biomedicine, robotics, and other fields. Origami can be folded from two-dimensional configurations into certain three-dimensional structures without cutting and stretching. This study first introduces basic concepts and applications of origami, and outlines the common crease patterns, whereas the design of crease patterns is focused. Through kinematic analysis and verification on origami structures, origami can be adapted for practical engineering. The novel characteristics of origami structures promote the development of self-folding robots, biomedical devices, and energy absorption members. We briefly describe the development of origami kinematics and the applications of origami characteristics in various fields. Finally, based on the current research progress of crease pattern design, kinematic analysis, and origami characteristics, research directions of origami-inspired structures are discussed.

Strain Reversal in Actuated Origami Structures

Origami in engineering is gaining interest for its potential as deployable or shape-adaptive structures. Practical systems could employ a network of actuators distributed across the structure to induce these deformations. Selecting the actuator locations requires an understanding of how the effect of a single actuator propagates spatially in an origami structure. We combine experimental results, finite element analysis, and reduced-order bar-and-hinge models to show how a localized static actuation decays elastically in Miura-ori tubes and sheets. We observe a strain reversal, before the origami structure springs back to the initial configuration further away from the point of actuation. The strain reversal is the result of bending of the facets, while the spring back requires in-plane facet deformations.

Origami-based impact mitigation via rarefaction solitary wave creation

The principles underlying the art of origami paper folding can be applied to design sophisticated metamaterials with unique mechanical properties. By exploiting the flat crease patterns that determine the dynamic folding and unfolding motion of origami, we are able to design an origami-based metamaterial that can form rarefaction solitary waves. Our analytical, numerical, and experimental results demonstrate that this rarefaction solitary wave overtakes initial compressive strain waves, thereby causing the latter part of the origami structure to feel tension first instead of compression under impact. This counterintuitive dynamic mechanism can be used to create a highly efficient-yet reusable-impact mitigating system without relying on material damping, plasticity, or fracture.

Architected Origami Materials: How Folding Creates Sophisticated Mechanical Properties

Origami, the ancient Japanese art of paper folding, is not only an inspiring technique to create sophisticated shapes, but also a surprisingly powerful method to induce nonlinear mechanical properties. Over the last decade, advances in crease design, mechanics modeling, and scalable fabrication have fostered the rapid emergence of architected origami materials. These materials typically consist of folded origami sheets or modules with intricate 3D geometries, and feature many unique and desirable material properties like auxetics, tunable nonlinear stiffness, multistability, and impact absorption. Rich designs in origami offer great freedom to design the performance of such origami materials, and folding offers a unique opportunity to efficiently fabricate these materials at vastly different sizes. Here, recent studies on the different aspects of origami materials-geometric design, mechanics analysis, achieved properties, and fabrication techniques-are highlighted and the challenges ahead discussed. The synergies between these different aspects will continue to mature and flourish this promising field.

An analytic model of two-level compressive buckling with applications in the assembly of free-standing 3D mesostructures

Recently developed methods for mechanically-guided assembly exploit stress release in prestretched elastomeric substrates to guide the controlled formation of complex three-dimensional (3D) mesostructures in advanced functional materials and integrated electronic devices. The techniques of interfacial photopolymerization allow for realization of such 3D mesostructures in free-standing forms, separated from their elastomeric substrate, via formation of an integrated base layer. Theoretical models for the complex modes of deformation associated with this scheme are essential in the optimal design of the process parameters. Here, we present an analytic finite-deformation model of an isolated double-ribbon structure to describe the buckling process and morphology change of the assembled mesostructures upon removal of the substrate. As validated by finite element analyses (FEA), this analytic model can accurately predict the profiles of the double-ribbon structure with a range of different design parameters. We further illustrate the extension of this model to the analyses of 3D mesostructures with different geometries. Inspired by analytic results for flexible base structures, combined experimental results and numerical simulations demonstrate that mechanical interactions between the two different layers can be leveraged to achieve hierarchical assembly of 3D mesostructures. These findings could be useful in further advances in designs of free-standing 3D mesostructures based on mechanically-guided assembly.