This paper proposes a way for fast and reversible movement for reconfigurable structure through a 3D shape shifting system. It uses shape memory alloy wire actuators to transform and morph multiple origami blocks into diverse shapes.<\/p>\n\n\n\n
@article{kim_morphing_2020,
title = {Morphing Origami Block for Lightweight Reconfigurable System},
issn = {1941-0468},
doi = {10.1109\/TRO.2020.3031248},
abstract = {Origami provides a unique tool for the design of robotic frames owing to its simple shaping principle by \u201cfolding.\u201d However, achieving the fast and reversible activeness of a highly reconfigurable structure remains challenging owing to the limitations of accessible actuators. In particular, it is difficult to find an actuator that can realize a simultaneously large, rapid, reversible, and stable movement while leading to a favorable form factor for the origami. To overcome this, in this article, we propose a 3-D shape-shifting system consisting of a morphing origami block that complements the stability problem of shape memory alloy wire actuators by tuning its structural characteristics. This cooperative scheme improves the reversibility and stability of the shape-shifting system, which enables the rapid transformation with high degrees of freedom unlike in existing programmable origami. As a stand-alone unit of transformation, morphing block equipped with deployable mechanism and actuators weighs 6 g and has a volume change factor of ten. Furthermore, the transformation time in both directions is less than 5 s, and the block can carry more than 120 g of payload in the deployed state. The proposed system composed of multiple origami blocks can reconfigure itself into diverse 3-D target shapes.},
pages = {1–12},
journaltitle = {{IEEE} Transactions on Robotics},
author = {Kim, S.-R. and Lee, D.-Y. and Ahn, S.-J. and Koh, J.-S. and Cho, K.-J.},
date = {2020},
note = {Conference Name: {IEEE} Transactions on Robotics},
keywords = {Actuators, Compliant mechanism, Kinematics, Kinetic theory, mechanism design, modular robots, robotic origami, Robots, Shape, Springs, Strain},
file = {IEEE Xplore Abstract Record:\/Users\/yanwendong 1\/Zotero\/storage\/Y5K2Y5X2\/9256996.html:text\/html},
}<\/p>\n","protected":false},"excerpt":{"rendered":"
This paper proposes a way for fast and reversible movement for reconfigurable structure through a 3D shape shifting system. It uses shape memory alloy wire actuators to transform and morph multiple origami blocks into diverse shapes. @article{kim_morphing_2020,title = {Morphing Origami Block for Lightweight Reconfigurable System},issn = {1941-0468},doi = {10.1109\/TRO.2020.3031248},abstract = {Origami provides a unique tool
Continue reading Exercise 1: \u201cMorphing Origami Block for Lightweight Reconfigurable System\u201d<\/span> <\/a><\/p>\n","protected":false},"author":47,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[44],"tags":[],"_links":{"self":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/posts\/2334"}],"collection":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/users\/47"}],"replies":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/comments?post=2334"}],"version-history":[{"count":1,"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/posts\/2334\/revisions"}],"predecessor-version":[{"id":2335,"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/posts\/2334\/revisions\/2335"}],"wp:attachment":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/media?parent=2334"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/categories?post=2334"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-480\/s2021\/wp-json\/wp\/v2\/tags?post=2334"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}