Kinematic and dynamic modeling of Nanostructured Origami

Abstract

Nanostructured Origami is a manufacturing process that folds nanopatterned thin films into a desired 3D shape. This process extends the properties of 3D design and connectivity found in origami artwork to the bulk fabrication of 3D nanostructures. Our technique is a two-step procedure that first patterns the devices in 2D and then folds the membranes to the final 3D shape along pre-defined creases. This thesis describes theoretical methods that have been developed to model the actuation of origami devices. The background of origami mathematics and advances in robotics are presented in the context of modeling Nanostructured Origami. Unfolding of single-vertex origami is discussed, and an algorithm is implemented to calculate the unfolding trajectories of several devices. Another contribution of this thesis is the presentation of a methodology for modeling the dynamics of two classes of origami: accordion origamis and single-vertex origamis. The forward dynamics and equilibrium analysis of a useful bridge structure and the corner cube origami are simulated. The response of a model of an experimental actuation technique is well-behaved, and it is shown that the final folded state of these devices is at a stable equilibrium.