Programming multistable origami and kirigami structures via topological design
Abstract
The proposed project introduces and investigates a new class of origamiand kirigamiinspired, flexible, lightweight robotic structures capable of transitioning between many stable configurations in order to perform tasks or adapt to changing environmental conditions. The objective is to establish robust and computationally efficient methods to identify geometries that give rise to multistability and paths to transition between the supported stable states and to fabricate such multistable designs with embedded sensing and actuation. In pursuit of these goals, the research team will then explore opportunities for application of these programmable systems in the design of smart and adaptive structures, including manipulators, walking robots, and reconfigurable (e.g., deployable) structures. The research is expected to enable design capabilities that shift the current paradigm for origami and kirigami structures by creating an efficient workflow that identifies the optimal architecture and actuation scheme for a given target application. The project team combines experts in mathematics, physics, material science, mechanics, robotics, numerical modeling, and computation. With its unique strengths in theory, simulation, manufacturing and experimental techniques, the team possesses a set of skills that is essential for the successful execution of this ambitious research program. Our computationally and experimentally driven research program seeks to realize paradigmshifting flexible lightweight structures capable of transitioning between many stable configurations. We believe the realization of these programmable structures, enabled by the proposed research activity, will influence the DoD capabilities towards the implementation of multifunctional robots, morphable/collapsible antennae, rapidlyassembled bridges and temporary structures, and forceprotection elements like origamiinspired bulletproof shields. Further, the research program will provide a deep fundamental understanding of the synergies between complex energy landscapes and the architecture of origami and kirigami structures. The anticipated scientific output of the proposed effort includes: (1) a set of mathematical models to characterize and design the complex mechanical behavior of multistable origami and kirigami structures; (2) novel lengthscale spanning manufacturing processes that efficiently integrate actuation and sensing, enabling the realization of the origami and kirigami structures identified in our mathematical efforts; and (3) experimental test beds that will serve as a platform for iterative evaluation and optimization of design concepts identified in this effort.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 08, 2022
- Source ID
- W911NF2210219
Entities
People
- Katia Bertoldi
Organizations
- Army Contracting Command
- Harvard University
- United States Army