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Multi-crease Self-folding by Global Heating

Author(s)
Miyashita, Shuhei; Onal, Cagdas D.; Rus, Daniela L
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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.
Date issued
2015-11
URI
https://hdl.handle.net/1721.1/129716
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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
ISSN
1064-5462
1530-9185

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