From Folding Mechanics to Robotic Function: A Unified Modeling Framework for Compliant Origami

Area of Science:

• Robotics
• Mechanical Engineering
• Computational Geometry

Background:

• Origami-inspired robots offer advantages in weight, reconfigurability, and programmability.
• Existing mechanical frameworks struggle to unify rigid folding, elastic deformation, and stability in compliant origami.

Purpose of the Study:

• To introduce a unified mechanics framework for compliant origami robotics.
• To bridge the gap between rigid folding and elastic deformation within a single model.
• To enable programmable control of stability and deformation in origami structures.

Main Methods:

• Developed a geometry-consistent modeling framework based on discrete differential geometry (DDG).
• Integrated panel elasticity and crease rotation within a variational formulation.
• Employed a mid-edge geometric discretization to capture crease-panel coupling.

Main Results:

• The framework naturally models rigid-folding limits, distributed bending, multistability, and snap-through behavior.
• Achieved programmable control of stability and deformation across rigid and compliant regimes.
• Demonstrated functionality in diverse origami robotic systems, including deployable membranes and crawling robots.

Conclusions:

• Discrete differential geometry provides a foundational design language for intelligent origami robotics.
• The unified framework enables predictive modeling and mechanics-guided actuation.
• Facilitates the transition of origami structures from static mechanisms to active robotic modules.