Design and characterization of electrostatic zipper hinges

Abstract

In this paper we present the design and characterization of actuated hinges based on the electrostatic zipper architecture. We compare three designs that integrate the zipper actuator with a flexural hinge and mechanical transmission. For each design, we present a model to predict displacement and validate it experimentally, characterizing its step response, torque, and repeatability. The results indicate that electrostatic zipper hinges are substantially faster than alternative self-folding actuators. They can be designed to produce large fold angles (over 100°) and repeatable analog behavior. These results suggest that this actuator can be applied to self-adjusting origami solar arrays and high-speed self-folding structures.