2D to 3D by synchronized folding
The advantages of this mechanism is that synchronized folding is enabled by the use of only one actuator. Because the folding mechanism relies on a loop assembly within a single base unit to determine fold angles, there is also no need for sensors/mechanical stops to regulate the fold angle.
This mechanism, could have potential use in a wide variety of physical scales. At the mesoscale, devices with a three dimensional shell could be assembled with only one actuator. Robotic grippers can also be made where the folding linkages are the “bones” of the fingers while the assembly linkage functions as a “tendon” that enables forces to be transmitted to the bones from an actuator that sits on the base folding link (“palm”) of the gripper. Such a mechanism can also be used as educational toys to teach lessons in kinematics and geometry. If complete closure of the net is not required, this mechanism can also be used to create an undulating surface that can mimic the movement of natural structures such as the camber and dihedral of bird wings in flight, the flapping motion of manta rays or the peristaltic swimming pattern of jelly fish.
Another application of this mechanism is the deployment or assembly of structures in space. Multiple habitat modules for a space station can be built in a flat two dimensional manner, and because of its flat nature, many habitat modules can be stacked together. When deployed in space, the assembly linkage built into habitats can transform the flat habitats into a three dimensional structure that can be integrated with a space station. Solar sails and solar panels built into the folding faces of this mechanism can be folded up on earth and be synchronously deployed in space.
This work led to the development of an underwater sampler designed to interact with soft sea creatures in a gentle way. A single rotary motor rated to 11 km coordinates five arms to fold from a flat configuration to a Dodecahedron. More information can be found in my publications (the New York Times also covered the work).
This mechanism, could have potential use in a wide variety of physical scales. At the mesoscale, devices with a three dimensional shell could be assembled with only one actuator. Robotic grippers can also be made where the folding linkages are the “bones” of the fingers while the assembly linkage functions as a “tendon” that enables forces to be transmitted to the bones from an actuator that sits on the base folding link (“palm”) of the gripper. Such a mechanism can also be used as educational toys to teach lessons in kinematics and geometry. If complete closure of the net is not required, this mechanism can also be used to create an undulating surface that can mimic the movement of natural structures such as the camber and dihedral of bird wings in flight, the flapping motion of manta rays or the peristaltic swimming pattern of jelly fish.
Another application of this mechanism is the deployment or assembly of structures in space. Multiple habitat modules for a space station can be built in a flat two dimensional manner, and because of its flat nature, many habitat modules can be stacked together. When deployed in space, the assembly linkage built into habitats can transform the flat habitats into a three dimensional structure that can be integrated with a space station. Solar sails and solar panels built into the folding faces of this mechanism can be folded up on earth and be synchronously deployed in space.
This work led to the development of an underwater sampler designed to interact with soft sea creatures in a gentle way. A single rotary motor rated to 11 km coordinates five arms to fold from a flat configuration to a Dodecahedron. More information can be found in my publications (the New York Times also covered the work).
