Assessment and Comparison of Cable-Actuation of Pill Bug Inspired Adaptive Origami Structure Using Computer Vision and Dynamic Relaxation

Angshuman C Baruah,Ann C Sychterz

doi:10.3389/fbuil.2022.813543

Abstract

The ancient art of origami can be harnessed for the development of adaptive structures, including those at civil-engineering scale. This can be enhanced with biomimetics, the study and development of synthetic mechanisms that mimic the structure or functionality of biological organisms in nature. The origami structure presented in this paper draws inspiration from pill bugs, a species of woodlice that can alter its shape between a flat and a rolled configuration. The panel type origami pill bug structure is modelled as bars, hinges, and active elements for actuation. This paper provides analysis and comparison of a new formulation of the form-finding method called dynamic relaxation for the analytical study with a computer vision algorithm for the experimental study of a 3D-printed model. The objective of this study is to simulate and experimentally validate the quasi-static and dynamic response to characterize the kinematic properties and dynamic behavior of the origami pill bug structure.

Highlights

The art of origami has inspired engineering devices and structures over the past few decades
This paper provides a comparison between the analytical and the experimental model of the origami pill bug structure
Finite element analysis of the structure at each configuration obtained from Dynamic relaxation (DR) method shows that the modal frequency of the origami pill bug (OPB) decreases non-linearly as the structure transforms into its rolled configuration

Summary

Introduction

The art of origami has inspired engineering devices and structures over the past few decades. Significant contributions by Tachi and Miura towards cellular origami have led to the development of fold patterns named after them. The theory behind flat-foldable origami (Hull, 1995) has extended towards understanding the geometry of rigid-foldable origami (Tachi, 2016) and the kinematics of folded metamaterials (Schenk and Guest, 2013). Kinematic analysis of origami by modeling the creases as hinges and panels as rigid links was successful in providing insight into the rigid foldability of crease patterns (Lang et al, 2016). The use of pin-jointed bar framework with rotational hinge spring for fold stiffness was independently developed (Schenk and Guest, 2011; Gillman et al, 2018) to provide insight into the fundamental characteristics of origami structures without the expanse of a full analysis of the shell structure.

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Discussion

Conclusion