An, B., Miyashita, S., Ong, A. et al. (5 more authors) (2018) An end-to-end approach to self-folding origami structures. IEEE Transactions on Robotics, 34 (6). pp. 1409-1424. ISSN 1552-3098
Abstract
This paper presents an end-to-end approach to automate the design and fabrication process for self-folding origami structures. Self-folding origami structures are robotic sheets composed of rigid tiles and joint actuators. When they are exposed to heat, each joint folds into a preprogrammed angle. Those folding motions transform themselves into a structure, which can be used as body of 3-D origami robots, including walkers, analog circuits, rotational actuators, and microcell grippers. Given a 3-D model, the design algorithm automatically generates a layout printing design of the sheet form of the structure. The geometric information, such as the fold angles and the folding sequences, is embedded in the sheet design. When the sheet is printed and baked in an oven, the sheet self-folds into the given 3-D model. We discuss, first, the design algorithm generating multiple-step self-folding sheet designs, second, verification of the algorithm running in O(n 2 ) time, where n is the number of the vertices, third, implementation of the algorithm, and finally, experimental results, several self-folded 3-D structures with up to 55 faces and two sequential folding steps.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Cellular and modular robots; printable origami robots; self-folding; smart actuators |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 14 Feb 2019 14:50 |
Last Modified: | 27 Jan 2020 14:05 |
Published Version: | https://doi.org/10.1109/TRO.2018.2862882 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/TRO.2018.2862882 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:142528 |