Origami is making an impact in engineering as solutions to problems are being found by applying origami principles (eg. flat-foldability) and using specific crease patterns as inspiration. This thesis presents an in-depth analysis of a particular origami fold -- the waterbomb base -- to facilitate its use in future engineering problems. The watebomb base is of interest due to its familiarity to the origami community, simple topology (can be made by folding a single sheet of paper four times), scalability, generalizability, and interesting kinetic behavior. It can behave as a nonlinear spring as well as a one- or two-way bistable mechanism. This thesis presents models of the kinetic behavior of the traditional waterbomb base as well as some non-traditional variants to be used as tools in future development of waterbomb-base-inspired mechanisms. In all cases considered here, developability as well as rotational symmetry in both the geometry and motion of the mechanisms are assumed. The thesis provides an introduction to origami and reviews some of the ways in which it has been studied and applied in engineering fields. The waterbomb base is also presented as a specific origami fold with practical application potential. Models for the behavior of the traditional waterbomb base are introduced and its potential usefulness as a testbed for actuation methods is discussed. Models are developed for its kinematic and bistable behavior, including the forces needed to transition between stable states. These models are validated by comparison to physical prototype testing and finite element analysis. The thesis introduces the generalized waterbomb base (WB) and generalized split-fold waterbomb base (SFWB). The WB maintains the pattern of alternating mountain and valley folds around the vertex but in this generalized case any even number of folds greater than or equal to 6 is allowed. An SFWB is created by splitting each fold of a WB into two “half folds”, effectively doubling the number of folds and links but halving the deflection at each fold. The same models that were developed for the traditional waterbomb base are developed for the WB and the SFWB and a few potential applications are discussed.

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This work presents the design and construction of a self-deployable, self-stiffening,and retractable (SDSR) space array from carbon fiber reinforced polymers (CFRP’s) and a working prototype is demonstrated. The effort required developing principles for the design of high-strain composite flexural joints and their integration into angled composite panels. Designing LET arrays in angled panels is explored. Analysis of simple composite LET joints is presented for two degrees of freedom. Validation of the composite LET modeling is sought through numerical methods and empirical testing. Testing of several composite LET joint specimens is conducted and the results are reported. Results indicate that (while not as compact as their isotropic material counterparts) composite laminates can successfully use LET joints as surrogate folds.

This thesis addresses a number of challenges designers face when designing deployable origami-based arrays, specifically joint selection, design, and placement within an array. In deployable systems, the selection and arrangement of joint types is key to how the system functions. The kinematics and performance of an array is directly affected by joint performance. This work develops joint metrics which are then used to compare joint performances, constructing a tool designers can use when selecting joints for an origami array. While often a single type of joint is used throughout an array, this work shows how using multiple types of joints within the same array can offer benefits for motion deployment, and array stiffening. Origami arrays are often used for their unique solutions for stowing and deploying large planar shapes. Folds, enabled through joints, within these patterns allow the arrays to fold compactly. However, it can be difficult to fully deploy arrays, particularly array designs with a high number of joints. In addition, it is a challenge to stabilize a fully deployed array from undesired re-folding. This work introduces a strain-energy storing joint that is used to deploy and stiffen foldable origami arrays, the Lenticular Lock (LentLock). Geometry of the LentLock is introduced and the deploying and stiffening performance of the joint is shown. Folds within an origami array create the constraints that link motion between panels, and can be used to create kinematic benefits, such as creating mechanisms with a single degree-of-freedom. While many fold-constraints are required to define motion, this work shows that origami-based system contain many redundant constraints. The removal of redundant joints does not affect the motion of the array nor the observed mobility, but may decrease the likelihood of binding, simplify the overall system and decrease actuation force. This work introduces a visual and iterative approach designers can use to identify redundant constraints in origami patterns, and techniques that can be used to remove the identified redundant constraints. The presented techniques are demonstrated by removing redundant constraints from prototyped origami mechanisms. As a result of this work, designers will be better able to approach and design deployable origami-based mechanisms.

DNA origami templates have been studied due the versatility of shapes that can be designed and their compatibility with various materials. This has potential for future electronic applications. This work presents studies performed on the electrical properties of DNA origami templated gold nanowires. Using a DNA origami tile, gold nanowires are site specifically attached in a “C” shape, and with the use of electron beam induced deposition of metal, electrically characterized. These wires are electrically conductive with resistivities as low as 4.24 x 10-5 Ω-m. During moderate temperature processing nanowires formed on DNA origami templates are shown to be affected by the high surface mobility of metal atoms. Annealing studies of DNA origami gold nanowires are conducted, evaluating the effects of atom surface mobility at various temperatures. It is shown that the nanowires separate into individual islands at temperatures as low as 180° C. This work shows that with the use of a polymer template the temperature at which island formation occurs can be raised to 210° C. This could allow for post processing techniques that would otherwise not be possible.

This thesis addresses the design difficulties encountered when designing deployable origami-based arrays. Specific considerations regarding thickness accommodation, deployment, and parameter modifications are discussed. Patterns such as the Miura-ori, flasher, and hexagon are investigated, with emphasis placed on pattern modification from zero-thickness to finite-thickness. Applying origami principles to form engineering solutions is a complicated task. Competing requirements may create confusion around which pattern is most favorable for the space array application. Implementing origami into a finite-thickness, engineered system poses challenges that are not manifest in a zero-thickness model. As such, it is important to understand and address the limitations of the pattern before implementing it into an engineered system. A preliminary set of approaches to address and mitigate design difficulties is provided. This thesis seeks to improve understanding of design parameters, objectives, and trade offs of origami pattern configurations. Emphasis is placed on finite-thickness models suitable for engineering applications. As a result, engineers and designers should be better prepared to integrate origami principles into space system design.

Robotic surgery procedures may include long, thin flexible instruments that are inserted by the robot into the patient. As the robot inserts these devices, due to their geometry, they are prone to buckling failure. To mitigate buckling failure, a support system is needed on the robot. This system supports the device but also adapts to the varying ex vivo length of the device as it is inserted. This work presents four collapsible support systems designed to mitigate buckling failure of long, thin instruments while accounting for changing length. The Ori-Guide is an origami-inspired system that has enabled a part reduction from traditional rigid systems with over 70 parts to 3 parts. This system was enabled through the development of a novel origami pattern that integrates both actuation and support into the same pattern. This system was made from PET and performed as well as a rigid system. The PET used in the Ori-Guide was thermo-processed to hold a folded shape. The heat treatment put the Ori-Guide into tension and enabled a stiffer support system. Work was done to investigate the effect of thermo-processing on PET films used in origami-inspired engineering applications. It was discovered that there is a strong correlation between crystallization and the stiffness of a crease in the polymer film. The Zipper-Tube Reinforcement (ZTR) was developed to provide constant support along the entire length of the device, something that no other support device provides. This enables higher loads on the device and thinner and more flexible devices. It was developed as a tube that envelopes the device and zips to provide a tube to support the device then unzips to lay flat rolled about a mandrel for storage. The Wires in Tension concept was developed by focusing on adding tension to the support system. It provided support to the device but required high levels of force on the robot arm so the Orthogonal Beams was developed. The Orthogonal Beams employs geometry as the primary support rather than tension and therefore could provide higher support with less force on the robot. These systems all proved effective ways to support flexible devices. The concepts could also find application in other fields. The merits of each system are discussed in detail, including a discussion on other possible applications.

The surface area and radiative properties of an object influence the rate of radiative emission from the object's surface and the rate of radiative absorption into the surface. Control of these variables would allow for the radiative heat transfer behavior of the surface to be manipulated in real time. Origami tessellations, being a repeated pattern of linked, dynamic surfaces, provide a framework by which dynamic control of apparent radiative properties and surface area is possible. The panels within a tessellation form cavities whose aspect ratio varies as the device actuates. The cavity effect suggests that the apparent radiative properties of the cavity openings will vary as a function of aspect ratio. The apparent absorptivity of an accordion tessellation formed from folded shim stock is shown experimentally to increase by 10x as the tessellation actuates from fully extended to within 10\% of a completely-folded state. Analytical models and Monte Carlo ray tracing are used to quantify the apparent radiative properties of an infinite V-groove for a variety of conditions, including specular or diffuse reflection and diffuse or collimated incident irradiation. For a diffuse V-groove, apparent radiative properties increase with increasing V-groove aspect ratio but do not approach unity. Highly reflective surfaces exhibit the largest relative increase in apparent radiative properties with actuation. Closed-form correlations achieve an average relative error of 2.0\% or less. For a specular V-groove, apparent radiative properties approach unity as the V-groove collapses towards an infinite aspect ratio. The apparent absorptivity for a V-groove exposed to collimated irradiation shows significant variations over small actuation distances, increasing by 5x over a small actuation range. For certain conditions the apparent absorptivity of a V-groove subject to collimated irradiation decreases as the aspect ratio increases.For an isothermal accordion tessellation the net radiative heat exchange continuously decreases as the surface is collapsed for most conditions, indicating that the reduction in apparent surface area generally dominates the increase in apparent radiative properties. Net radiative heat transfer values decrease by 7x for collimated irradiation and specular reflection over small actuation distances. Specular V-grooves subject to collimated irradiation occasionally show an increase in net radiative heat transfer as the device collapses. A non-isothermal dynamic radiative fin achieves a 3x reduction in heat transfer as the fin collapses; this value can be increased with the use of highly conductive materials and by increasing the length of the fin. The fin efficiency of a collapsible fin increases as the fin collapses. An experimental prototype of a collapsible fin is developed and tested in a vacuum environment, achieving a 1.32x reduction in heat transfer for a limited actuation range, where a numerical model suggests this prototype may achieve a 2.23x reduction in heat transfer over the full actuation range.

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