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

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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.

Deployable origami-based arrays can offer many benefits for a wide variety of engineering applications because of their ability to stow compactly and deploy to a large area. These types of arrays have been demonstrated for use in solar arrays, heat shields, and more; however, they have yet to be shown in high precision applications such as telescopes. The biggest roadblock to using origami in high precision arrays is align- ment in the deployed state; in optical systems, local (single panel) and global (entire array) misalignment can drastically reduce performance. Precision positioning of origami-based arrays can be a challenge because of the high number of interconnected panels, large motion between stowed and deployed states, and limited space for precision alignment mechanisms/systems. The objective of this work is to answer the question: how might one improve the precision of deployable origami-based arrays? The approach for achieving this objective is to simulate the effects of misalignment on the performance of an array, develop compact precision couplings, build and experimentally test prototypes, and implement designs into origami-based arrays. A practice for defining local and global misalignment in deployable origami-based arrays is suggested, perturbations are applied to the optical model and resulting output recorded, and compensation techniques are applied to restore good performance. Additionally, precision couplings are designed and developed. The coupling is placed in a Z-fold mechanism and two types of degree-four vertex (D4V) mechanisms, all of which are funda- mental components of origami-based arrays. The alignment and repeatability of these mechanisms are measured using a 3D scanner. Deployable lidar telescopes based on the hexagonal twist and flasher patterns are then used as case studies, and the conclusions could be extended to other origami-based systems. The results of optical simulation of the hexagonal twist show that there are several degrees-of-freedom (DoFs) which are more sensitive to misalignment and for which compensation is not effective. The most sensitive DoFs are approximately linear in performance loss and are represented by a slope; they are the local decenter X (0.467% power loss per micron misalignment), local decenter Y (0.463% power loss per micron misalignment), local tilt (0.357% power loss per thousandth degree misalignment), and local tip (0.265% power loss per thousandth degree misalignment) misalignments. The results of the experimental testing conclude that the panels of the Z-fold mechanism have a repeatability of about 0.50°and 0.50 mm. The panels of the D4V mechanisms have a repeatability of about 0.15°and 0.50 mm. These results could help minimize the need for compensation or position sensing and help optical system designers to know which DoFs should be carefully controlled to maximize performance. They also show that precision couplings can be implemented in origami patterns to yield arrays that have better deployed repeatability that traditional designs. This improved repeatability can lead to increased performance of origami-based solar arrays, and new applications, such as optical devices.

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.