This thesis provides resources that enable the design of novel and compact mechanical devices by providing terminology, engineering models, and design methods in the fields of developable mechanisms and origami-based engineering.The first part of this work presents engineering models to aid in the design of cylindrical developable mechanisms. These models take into account the added spatial restrictions imposed by the developable surface. Equations are provided for the kinematic analysis of cylindrical developable mechanisms. A new classification for developable mechanisms is also presented (intramobile, extramobile, and transmobile) and two graphical methods are provided for determining this classification for single-DOF planar cylindrical developable mechanisms. Characteristics specific to four-bar cylindrical developable mechanisms are also discussed. The second part addresses a key challenge in origami design: how to achieve stability while maintaining the desired folding motion. The origami stability integration method (OSIM) provides an approach for graphically combining various techniques to achieve stability. This thesis presents improvements and additions to the OSIM that allow it to be applied to many different scenarios. Existing stability techniques are also categorized into four groups based on whether they are intrinsic or extrinsic to the origami pattern and whether they exhibit gradual or non-gradual energy storage behaviors. These categorizations can help designers select appropriate techniques for their application. Four case studies are presented which use the OSIM and the technique categorization to conceptualize stability in origami-based devices.

京都大学 / 新制・課程博士 / 博士(エネルギー科学) / 甲第24854号 / エネ博第463号 / 新制||エネ||87(附属図書館) / 京都大学大学院エネルギー科学研究科エネルギー基礎科学専攻 / (主査)教授 森井, 孝, 教授 片平, 正人, 教授 佐川, 尚 / 学位規則第4条第1項該当 / Doctor of Energy Science / Kyoto University / DGAM

No description available.

No description available.

No description available.

No description available.

No description available.

This research presents methods for modeling and optimizing an origami design using compliant mechanisms, improving origami design processes, modeling and analyzing rolling behavior of compliant designs, and an antenna design for SmallSats. A framework for the optimization of the origami Flasher pattern to mitigate issues with rigid-foldability is shown, and several optimization solutions are presented to overcome these issues. An alternative design method is presented which allows designers to more accurately predict the characteristics of a design in the deployed state, and configurations are shown for an example use case. A model for rolled gossamer structures is presented which predicts the relative slippage that adjacent panels will experience, and slippage trends are correlated with key pattern parameters. Finally, a SmallSat antenna design is presented, which stows compactly, incorporates a unique hinge design, utilizes magnets for stabilization in the deployed state, and self-deploys using compliant mechanisms.

Submitted by DANIEL SEDA PEREIRA DE MORAES (danielseda@gmail.com) on 2018-08-10T23:13:10Z No. of bitstreams: 1 Daniel-Seda_Origami-e-Robotica_DISSERTACAO-2018.pdf: 22202619 bytes, checksum: e9ba068be30e0b62f8b50a71bba3ea98 (MD5) / Approved for entry into archive by Laura Mariane de Andrade null (laura.andrade@ia.unesp.br) on 2018-08-11T14:42:24Z (GMT) No. of bitstreams: 1 moraes_dsp_me_ia.pdf: 22154827 bytes, checksum: b7f22d7feaf55298d990176bd6c87dba (MD5) / Made available in DSpace on 2018-08-11T14:42:24Z (GMT). No. of bitstreams: 1 moraes_dsp_me_ia.pdf: 22154827 bytes, checksum: b7f22d7feaf55298d990176bd6c87dba (MD5) Previous issue date: 2018-06-18 / Nesta dissertação, eu discuto algumas das relações entre arte, ciência e tecnologia a partir da conexão entre o papel e a eletrônica. O foco da dissertação é como o papel, tecnologia ancestral, pode ganhar outras aplicações, especialmente na arte, ao se conectar a sistemas de código aberto para robótica. O conhecimento teórico e experimental sobre o tema converte-se na produção de uma série de objetos cinéticos apresentados em uma exposição junto com o texto final desta dissertação, que contém também um tutorial abrindo o código das obras realizadas, permitindo a sua replicação por outras pessoas. / In this text, I discuss relations between art, science and technology starting from the connection between paper and electronics. The focus is how paper, ancestral technology, can gain other applications, especially in art, when connecting to open source systems for robotics. Theoretical and experimental knowledge on the subject compose a series of kinetic objects presented in an exposition along with the final text of this dissertation, which also contains a tutorial opening the code of the works carried out, allowing their replication by other people.

Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2015-10-16T14:32:10Z No. of bitstreams: 2 Dissertação - OsmarRodriguesAraujo - 2015.pdf: 7405460 bytes, checksum: ea95512c567631973f91d277bb7bf915 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2015-10-16T14:36:30Z (GMT) No. of bitstreams: 2 Dissertação - OsmarRodriguesAraujo - 2015.pdf: 7405460 bytes, checksum: ea95512c567631973f91d277bb7bf915 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Made available in DSpace on 2015-10-16T14:36:30Z (GMT). No. of bitstreams: 2 Dissertação - OsmarRodriguesAraujo - 2015.pdf: 7405460 bytes, checksum: ea95512c567631973f91d277bb7bf915 (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2015-07-28 / This work aims mainly to study the pedagogical implications of the use of origami to the process of teaching and learning the notable points of a triangle. For this reason, a qualitative approach was used based on bibliographic research and didactic experiment. A guiding question oriented this work: what are the educational contributions of teaching geometry through origami to understand geometric concepts such as notable points of a triangle? The main bibliographic references are Aschenbach, Fazenda and Elias (1997), Cedro and Moura (2010), D'Ambrósio (1996), as well as documents from Ministry of Education related to the issues highlighted here. The didactic experiment was applied to 35 students of an 8th grade class of a public school in Aparecida de Goiânia, Goiás, Brazil, in February and March, 2015. The analyses of the participants output, the footages and the researcher observations showed that origami is a pedagogical resource that enhances the process of learning the notable points of a triangle. It became noticeable, however, during the execution of the research, how complex is to work with playful in the development of a subject and to plan activities with clear objectives and a methodology appropriate to the level of the students, besides conducting activities that are challenging for them. / Este trabalho tem como objetivo central estudar as implicações pedagógicas do uso do origami no processo de ensino e aprendizagem de pontos notáveis de um triângulo. Utilizamos uma abordagem qualitativa, a partir de pesquisa bibliográ ca e experimento didático. Durante o estudo relatado, a questão norteadora foi Quais as contribui- ções pedagógicas do ensino da geometria por meio do origami para a compreensão de conceitos geométricos tais como pontos notáveis de um triângulo? . Como principais referências bibliográ cas estão Aschenbach, Fazenda e Elias (1997), Cedro e Moura (2010), D'Ambrósio (1996) assim como alguns documentos do Ministério da Educa- ção que tratam de assuntos destacados nesse trabalho. O experimento didático foi realizado com uma turma de 8o ano de uma escola estadual de Goiás, localizada na cidade de Aparecida de Goiânia. A turma era composta por 35 alunos e a pesquisa foi realizada nos meses de fevereiro e março de 2015. A partir das análises das produções dos participantes da pesquisa, das lmagens e das observações feitas pelo pesquisador, é possível perceber que o uso do origami se apresenta como um recurso pedagógico que possibilita o favorecimento do processo de aprendizagem de pontos notáveis de um triângulo. No entanto, durante a execução da pesquisa tornou-se perceptível o quanto é complexo trabalhar o lúdico no desenvolvimento de um conteúdo, planejar as atividades com objetivos claros e metodologia adequada para o nível da turma além de conduzir atividades que são desa adoras para os alunos.