Research Papers

A Classification of Action Origami as Systems of Spherical Mechanisms

[+] Author and Article Information
Landen A. Bowen

e-mail: landen.bowen@gmail.com

Clayton L. Grames

e-mail: clayt@grames.org

Spencer P. Magleby

e-mail: magleby@byu.edu

Larry L. Howell

e-mail: lhowell@byu.edu
Department of Mechanical Engineering,
Brigham Young University,
Provo, UT 84606

Robert J. Lang

Lang Origami,
Alamo, CA 94507 
e-mail: robert@langorigami.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 1, 2013; final manuscript received June 20, 2013; published online October 8, 2013. Assoc. Editor: Alexander Slocum.

J. Mech. Des 135(11), 111008 (Oct 08, 2013) (7 pages) Paper No: MD-13-1049; doi: 10.1115/1.4025379 History: Received February 01, 2013; Revised June 20, 2013

Action origami is a field of origami dealing with models that are folded so that in their final, deployed state they exhibit motion. Hundreds of action origami models exist, many of which use complicated kinematics to achieve motion in their deployed state. A better understanding of the mechanisms used to create motion in action origami could be a foundation for developing a new source of concepts for deployable, movable engineering solutions. This brief presents an approach for evaluating and classifying the mechanisms that enable action origami motion. Approximately 130 action origami models are investigated. Although disguised with artistic elements, it is found that most action origami models are based on a few fundamental mechanisms. A classification scheme is proposed, and an unexplored class of action origami is identified as an area for future origami art.

Copyright © 2013 by ASME
Topics: Kinematics , Chain
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Fig. 1

Shafer's “Magic Carpet” [19] is an example of the collapsible nature of origami

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Fig. 2

Shafer's “Venus Fly Trap” [18] is an example of action origami

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Fig. 3

Left: Traditional spherical mechanism. Middle: Unfolded origami single vertex. Right: Partially folded origami vertex. Note that a traditional spherical mechanism and an origami vertex are kinematically equivalent.

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Fig. 6

Graph of Shafer's “Chomper”

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Fig. 5

Spherical mechanism representation of Shafer's “Chomper”

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Fig. 4

Shafer's “Chomper” with folds contributing to motion outlined

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Fig. 10

Representations of the spherical mechanisms used in networks

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Fig. 11

The figure on the left does not contain a loop (open chain) while the figure on the right does (network)

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Fig. 12

An example of a 1D periodic network. Note that the circled pair of spherical mechanisms is repeated several times in the direction indicated by the arrow.

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Fig. 13

An example of a 2D periodic network. Note that the circled set of spherical mechanisms is repeated several times in two directions, indicated by the arrows.

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Fig. 9

Representations of the spherical mechanisms used in open chains

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Fig. 8

Kinematic origami classification. The left branch contains open chains while the right branch contains networks.

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Fig. 7

Two action models based on a single spherical mechanism




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