Multi-crease Self-folding by Global Heating
Name
artl_a_00183.pdf
Description
Published version
Size
1.05 MB
Format
Adobe PDF
Checksum (MD5)
e6dd493131398dae54f477ca298f3c46
Author(s)
Miyashita, Shuhei
Onal, Cagdas D.
Rus, Daniela L
Date Issued
November 2015
Journal
Artificial Life
Publisher
MIT Press - Journals
Citation
Miyashita, Shuhei et al. "Multi-crease Self-folding by Global Heating." Artificial Life 21, 4 (November 2015): 398-411 © 2015 Massachusetts Institute of Technology
Version
Final published version
Abstract
This study demonstrates a new approach to autonomous folding for the body of a 3D robot from a 2D sheet, using heat. We approach this challenge by folding a 0.27-mm sheetlike material into a structure. We utilize the thermal deformation of a contractive sheet sandwiched by rigid structural layers. During this baking process, the heat applied on the entire sheet induces contraction of the contracting layer and thus forms an instructed bend in the sheet. To attain the targeted folding angles, the V-fold spans method is used. The targeted angle θout can be kinematically encoded into crease geometry. The realization of this angle in the folded structure can be approximately controlled by a contraction angle θin. The process is non-reversible, is reliable, and is relatively fast. Our method can be applied simultaneously to all the folds in multi-crease origami structures. We demonstrate the use of this method to create a lightweight mobile robot.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1162/artl_a_00183
