Toward actuation of Kresling pattern-based origami robots

Abstract This work investigates the technical requirement for the actuation of the bi-directional rotational motion (BRM) of engineering-material-based non-rigid origami robots. While the vast majority of previously published results have focused on paper-based origami structures driven by translation-motion, polypropylene (PP) is implemented in this research to investigate its ability to respond to engineering requirements according to BRM. Following this objective, three experiments are proposed to identify the technical performances of PP-based origami and kirigami robots based on Kresling pattern. First, the stabilization test shows that two hundred full folding cycles are required to reach a repeatable mechanical response. Second, the BRM test characterizes the various mechanical performances of both origami and kirigami structure: the PP-based origami outperforms existing structures in the literature. Third, the actuation test shows that the actuation mechanical requirements can be described using three key parameters: the required torque for folding, the shape-blocking stiffness, and the bistable portion. Finally, in order to support the development of PP-based origami/kirigami robots, a ‘Bar and Hinge’ reduced-order model is implemented for the description of the nonlinear hysteretic behavior and bistability. This method constitutes a useful tool for the design of highly nonlinear/bistable engineering structures based on PP origami and kirigami.