The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated int...The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.展开更多
With the rapid development of holographic technology,metasurface-based holographic communication schemes have demonstrated immense potential for electromagnetic(EM)multifunctionality.However,traditional passive metasu...With the rapid development of holographic technology,metasurface-based holographic communication schemes have demonstrated immense potential for electromagnetic(EM)multifunctionality.However,traditional passive metasurfaces are severely limited by their lack of reconfigurability,hindering the realization of versatile holographic applications.Origami,an art form that mechanically induces spatial deformations,serves as a platform for multifunctional devices and has garnered significant attention in optics,physics,and materials science.The Miura-ori folding paradigm,characterized by its continuous reconfigurability in folded states,remains unexplored in the context of holographic imaging.Herein,we integrate the principles of Rosenfeld with L-and D-metal chiral enantiomers on a Miura-ori surface to tailor the aperture distribution.Leveraging the continuously tunable nature of the Miura-ori's folded states,the chiral response of the metallic structures varies across different folding configurations,enabling distinct EM holographic imaging functionalities.In the planar state,holographic encryption is achieved.Under specific folding conditions and driven by spin circularly polarized(CP)waves at a particular frequency,multiplexed holographic images can be reconstructed on designated focal planes with CP selectivity.Notably,the fabricated origami metasurface exhibits a large negative Poisson ratio,facilitating portability and deployment and offering novel avenues for spin-selective systems,camouflage,and information encryption.展开更多
Origami mechanisms are extensively employed in various engineering applications due to their exceptional folding performance and deformability.The key to designing origami mechanisms lies in the design of the creases....Origami mechanisms are extensively employed in various engineering applications due to their exceptional folding performance and deformability.The key to designing origami mechanisms lies in the design of the creases.The crease design is often derived from experience and inspiration,so it is crucial to have a systematic approach to crease design.In this paper,a novel synthesis approach based on graph theory is proposed,which effectively addresses the challenge of designing the creases in origami mechanisms.The essence of this method lies in the acquisition of the double symmetrical crease pattern through the directed graph product operation of two subgraphs.The crease pattern can be simplified by employing a technique that eliminates certain creases while preserving the non-isomorphism and symmetry of the pattern.An improved mixed-integer linear programming model is developed to achieve an automatic distribution of the peak_valley creases of the origami.The proposed method ultimately generates 12 unique double symmetrical crease patterns.The new method proposed in this paper,through systematic design,significantly improves the efficiency of mechanism design while opening up broad prospects for exploring new mechanism structures,thereby greatly expanding its application potential in cutting-edge fields such as aerospace engineering and intelligent robots.展开更多
The ancient arts of paper folding and cutting-origami and kirigami-have long captivated both artists and engineers.Today,these techniques are inspiring the creation of adaptive structures and innovative metamaterials ...The ancient arts of paper folding and cutting-origami and kirigami-have long captivated both artists and engineers.Today,these techniques are inspiring the creation of adaptive structures and innovative metamaterials that challenge conventional mechanical paradigms.Whereas early research in origami/kirigami primarily addressed design principles and folding kinematics to achieve vast shape transformations,breakthroughs since the 2010s have unlocked new avenues in folding-and cutting-induced mechanics.By harnessing folding-induced deformations and leveraging strong geometric nonlinearities,researchers now realize exceptional mechanical properties such as auxetic behavior,high reconfigurability,programmable stiffness,impact absorption,and bistability or multi-stability.展开更多
The intricate relationship between origami and mechanism underscores the fertile ground for innovation,which is particularly evident in the construction theory of thick-panel origami.Despite its potential,thick panel ...The intricate relationship between origami and mechanism underscores the fertile ground for innovation,which is particularly evident in the construction theory of thick-panel origami.Despite its potential,thick panel origami remains relatively unexplored in the context of single-loop metamorphic mechanisms.Drawing inspiration from thickpanel origami,particularly Miura origami,this study proposes a pioneering single-loop 6R multiple metamorphic mechanism.Through rigorous mathematical modeling(including the construction and resolution of the D-H closed-loop equation)and leveraging advanced analytical tools such as the screw theory and Lie theory,this study meticulously elucidates the planar,spherical,and Bennett motion branches of the mechanism.Furthermore,it delineates all the three bifurcation points between the motion branches,thereby providing a comprehensive understanding of the kinematic behavior of the mechanism.A metamorphic network can be constructed by applying several single-loop mechanisms to a symmetrical layout.Owing to its metamorphic properties,this network can act as a structural backbone for deployable antennas,aerospace shelters,and morphing wing units,thereby enabling a single mechanism to achieve multiple folding configurations.This paper not only introduces innovative metamorphic mechanisms but also suggests a promising method for uncovering and designing metamorphic mechanisms by developing new mechanisms from thick-panel origami.展开更多
The unique arrangement of panels and folds in origami structures provides distinct mechanical properties,such as the ability to achieve multiple stable states,reconfigure shapes,and adjust performance.However,combinin...The unique arrangement of panels and folds in origami structures provides distinct mechanical properties,such as the ability to achieve multiple stable states,reconfigure shapes,and adjust performance.However,combining movement and control functions into a simple yet efficient origami-based system remains a challenge.This study introduces a practical and efficient bistable origami mechanism,realized through lightweight and tailored designs in two bio-inspired applications.The mechanism is constructed from two thin materials:a PET sheet with precisely cut flexible hinges and a pre-tensioned elastic band.Its mechanical behavior is studied using nonlinear spring models.These components can be rearranged to create new bistable structures,enabling the integration of movement and partial control features.Inspired by natural systems,the mechanism is applied to two examples:a passive origami gripper that can quickly and precisely grasp moving objects in less than 100 ms,and an active magnetic-driven fish tail capable of high-speed swimming in multiple modes,reaching a maximum straight-line speed of 3.35 body lengths per second and a turning speed of 2.3 radians per second.This bistable origami mechanism highlights its potential for flexible design and high performance,offering useful insights for developing origami-based robotic systems.展开更多
This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator ...This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.展开更多
Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators d...Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.展开更多
RNA offers distinct advantages for molecular self-assembly as a unique and programmable biomaterial.Recently,single-stranded RNA(ssRNA)origamis,capable of self-folding into defined nanostructures within a single-stran...RNA offers distinct advantages for molecular self-assembly as a unique and programmable biomaterial.Recently,single-stranded RNA(ssRNA)origamis,capable of self-folding into defined nanostructures within a single-stranded RNA molecule,are considered a promising platform for immune recognition and therapy.Here,we utilize single-stranded rod RNA origami(Rod RNA-OG)as functional nucleic acid to synthesize valence-programmed RNA structures in a one-pot manner.We discover that the polyvalent RNA origamis are resistant to RNase degradation and can be efficiently internalized by macrophages for subsequent innate immune activation,even in the absence of any external protective agents such as lipids or polymers.The valence-programmed RNA origamis thus hold great promise as novel agonists for immunotherapy.展开更多
This paper presents,for the first time,an effective numerical approach based on the isogeometric analysis(IGA)and the six-variable quasi-three dimensional(3D)higher-order shear deformation theory(HSDT)to study the fre...This paper presents,for the first time,an effective numerical approach based on the isogeometric analysis(IGA)and the six-variable quasi-three dimensional(3D)higher-order shear deformation theory(HSDT)to study the free vibration characteristics of functionally-graded(FG)graphene origami(GOri)-enabled auxetic metamaterial(GOEAM)plates submerged in a fluid medium.The plate theory incorporates the thickness stretching and the effects of transverse shear deformation without using any shear correction factors.The velocity potential function and Bernoulli's equation are used to derive the hydrodynamic pressure acting on the plate surface.Both horizontally and vertically immersed plate configurations are considered here in the form of inertia effects.The plates are composed of multilayer GOEAMs,with the GOri content varying through the plate's thickness in a layer-wise manner.This design results in graded auxetic growth.The material properties are evaluated by mixing rules and a genetic programming(GP)-assisted micromechanical model.The governing equations of motion for the FG-GOEAM plates immersed in a fluid medium are derived by Hamilton's principle.After validating the convergence and accuracy of the present model,a comprehensive parametric study is carried out to examine the effects of the GOri content,GOri distribution pattern,GOri folding degree,fluid level,immersed depth,and geometric parameter on the natural frequencies of the FG-GOEAM plates.The results show that the natural frequencies for the four GOri distribution patterns increase with the increase in the layer number when the lay number is fewer than 10,and then stabilize after the layer number reaches 10.Besides,in general,the natural frequency of the FG-GOEAM plate in a vacuum or fluid increases when the GOri content increases,while decreases when the GOri folding degree increases.Some additional findings related to the numerical results are presented in the conclusions.It is believed that the present results are useful for the precise design and optimization of FG-GOEAM plates immersed in a fluid medium.展开更多
Multi-stable origami structures and metamaterials possess unique advantages and could exhibit multiple stable three-dimensional configurations,which have attracted widespread research interest and held promise for app...Multi-stable origami structures and metamaterials possess unique advantages and could exhibit multiple stable three-dimensional configurations,which have attracted widespread research interest and held promise for applications in many fields.Although a great deal of attention has been paid to the design and application of multi-stable origami structures,less knowledge is available about the transition sequence among different stable configurations,especially in terms of the fundamental mechanism and the tuning method.To fill this gap,with the multi-stable dual-cell stacked Miura-ori chain as a platform,this paper explores the rules that govern the configuration transition and proposes effective methods for tuning the transition sequence.Specifically,by correlating the energy evolution,the transition paths,and the associated force-displace-ment profiles,we find that the critical extension/compression forces of the component cells play a critical role in governing the transition sequence.Accordingly,we summarize the rules for predicting the transition sequence:the component cell that first reaches the critical force during quasi-static extension or compression will be the first to undergo a configuration switch.Based on these findings,two methods,i.e.,a design method based on crease-stiffness assignment and an online method based on internal pressure regulation,are proposed to tune the stability profile and the transition sequence of the multi-stable origami structure.The crease-stiffness design approach,although effective,cannot be employed for online tuning once the prototype has been fabricated.The pressure-based approach,on the other hand,has been shown experimentally to be effective in adjusting the constitutive force-displacement profiles of the component cells and,in turn,tuning the transition sequence according to the summarized rules.The results of this study will advance the state of the art of origami mechanics and promote the engineering applications of multi-stable origami metamaterials.展开更多
Origami bellows are formed by folding flat sheets into closed cylindrical structures along predefined creases.As the bellows unfold,the volume of the origami structure will change significantly,offering potential for ...Origami bellows are formed by folding flat sheets into closed cylindrical structures along predefined creases.As the bellows unfold,the volume of the origami structure will change significantly,offering potential for use as inflatable deployable structures.This paper presents a geometric study of the volume of multi-stable Miura-ori and Kresling bellows,focusing on their application as deployable space habitats.Such habitats would be compactly stowed during launch,before expanding once in orbit.The internal volume ratio between different deployed states is investigated across the geometric design space.As a case study,the SpaceX Falcon 9 payload fairing is chosen for the transportation of space habitats.The stowed volume and effective deployed volume of the origami space habitats are calculated to enable comparison with conventional habitat designs.Optimal designs for the deployment of Miura-ori and Kresling patterned tubular space habitats are obtained using particle swarm optimisation(PSO)techniques.Configurations with significant volume expansion can be found in both patterns,with the Miura-ori patterns achieving higher volume expansion due to their additional radial deployment.A multi-objective PSO(MOPSO)is adopted to identify trade-offs between volumetric deployment and radial expansion ratios for the Miura-ori pattern.展开更多
Most existing treatments for origami-folding simulations have focused on regular-shaped configurations.This article aims to introduce a general strategy for simulating and analyzing the deformation process of irregula...Most existing treatments for origami-folding simulations have focused on regular-shaped configurations.This article aims to introduce a general strategy for simulating and analyzing the deformation process of irregular shapes by means of computational capabilities nowadays.To better simulate origami deformation with folding orders,the concept of plane follow-up is introduced to achieve automated computer simulation of complex folding patterns,thereby avoiding intersection and penetration between planes.Based on the evaluation criteria such as the lowest storage energy with tightening and the fastest pace from tightening to unfolding,the optimal crease distribution patterns for four irregular(‘N’-,‘T’-,‘O’-,and‘P’-shaped)origami configurations are then presented under five candidates.When the dimensions of the origami are fixed,it is discovered that simpler folding patterns lead to faster deformation of the origami configuration.When the folding complexity is fixed,higher strain energy results in more rapid origami expansion.展开更多
This letter solves an open question of origami paper spring risen by Yoneda et al.(Phys.Rev.E 2019).By using both dimensional analysis and data fitting,an universal scaling law of a paper spring is formulated.The scal...This letter solves an open question of origami paper spring risen by Yoneda et al.(Phys.Rev.E 2019).By using both dimensional analysis and data fitting,an universal scaling law of a paper spring is formulated.The scaling law shows that origami spring force obeys power square law of spring extension,however strong nonlinear to the total twist angle.The study has also successfully generalized the scaling law from the Poisson ratio 0.3 to an arbitrary Poisson's ratio with the help of dimensional analysis.展开更多
Herein we demonstrate the construction of three types of parallel gold nanorod(AuNR) clusters using a DNA origami rod(DOR) as the template. Based on the precise control over the position of capture strands on DOR, num...Herein we demonstrate the construction of three types of parallel gold nanorod(AuNR) clusters using a DNA origami rod(DOR) as the template. Based on the precise control over the position of capture strands on DOR, number and orientation of the AuNR clusters can be well engineered, as evidenced by biological transmission electron microscope(TEM). Importantly, the AuNR clusters exhibit chiroptical responses which are strongly affected by the number of AuNR on rod-like DNA origami.展开更多
Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction,wearable robotics,rehabilitation robotics,etc.In this paper,the authors report on the design,an...Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction,wearable robotics,rehabilitation robotics,etc.In this paper,the authors report on the design,analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell.The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal.The stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast,simple and straightforward manner.The kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links.A prototype is fabricated to conduct experiments for the assessment of the proposed concept.The results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms.展开更多
Origami structure has been employed in many engineering applications.However,there is currently no strategy that can systematically achieve stiffness-tunable origami(STO)structures through proper geometric design.Here...Origami structure has been employed in many engineering applications.However,there is currently no strategy that can systematically achieve stiffness-tunable origami(STO)structures through proper geometric design.Here,we report a strategy for designing and fabricating STO structures based on thick-panel origami using multimaterial 3D printing.By adjusting the soft hinge position,we tune the geometric parameterψto program the stiffness and strength of origami structures.We develop origami structures with graded stiffness and strength by stacking Kresling origami structures with differentψ.The printed structures show great cyclic characteristics and deformation ability.After optimizing combinations of structures with differentψ,the multi-layer Kresling STO structures can effectively reduce the peak impact,showing a good energy absorption effect.The proposed approach can be implemented in various origami patterns to design and tune the mechanical properties of origami structures for many potential applications.展开更多
Graphene is a two-dimensional material that can be folded into diverse and yet interesting nanostructures like macro-scale paper origami.Folding of graphene not only makes different morphological configurations but al...Graphene is a two-dimensional material that can be folded into diverse and yet interesting nanostructures like macro-scale paper origami.Folding of graphene not only makes different morphological configurations but also modifies their mechanical and thermal properties.Inspired by paper origami,herein we studied systemically the effects of creases,where sp^(2)to sp^(3)bond transformation occurs,on the thermal properties of graphene origami using molecular dynamics(MD)simulations.Our MD simulation results show that tensile strain reduces(not increases)the interfacial thermal resistance owing to the presence of the crease.This unusual phenomenon is explained by the micro-heat flux migration and stress distribution.Our findings on the graphene origami enable the design of the next-generation thermal management devices and flexible electronics with tuneable properties.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.51805047 and 52175003)the Outstanding Youth Program of Hunan Education Department(Grant No.23B0335)the Natural Science Foundation of Hunan Province(Grant Nos.2023JJ30021 and 2023JJ50077).
文摘The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.
基金financial supports from National Key Research and Development Program of China(No.2022YFB3806200)。
文摘With the rapid development of holographic technology,metasurface-based holographic communication schemes have demonstrated immense potential for electromagnetic(EM)multifunctionality.However,traditional passive metasurfaces are severely limited by their lack of reconfigurability,hindering the realization of versatile holographic applications.Origami,an art form that mechanically induces spatial deformations,serves as a platform for multifunctional devices and has garnered significant attention in optics,physics,and materials science.The Miura-ori folding paradigm,characterized by its continuous reconfigurability in folded states,remains unexplored in the context of holographic imaging.Herein,we integrate the principles of Rosenfeld with L-and D-metal chiral enantiomers on a Miura-ori surface to tailor the aperture distribution.Leveraging the continuously tunable nature of the Miura-ori's folded states,the chiral response of the metallic structures varies across different folding configurations,enabling distinct EM holographic imaging functionalities.In the planar state,holographic encryption is achieved.Under specific folding conditions and driven by spin circularly polarized(CP)waves at a particular frequency,multiplexed holographic images can be reconstructed on designated focal planes with CP selectivity.Notably,the fabricated origami metasurface exhibits a large negative Poisson ratio,facilitating portability and deployment and offering novel avenues for spin-selective systems,camouflage,and information encryption.
基金Supported by National Natural Science Foundation of China(Grant Nos.52375028,52205040)Hebei Provincial Natural Science Foundation(Grant Nos.E2024203052,E2024203105)Science and Technology Project of Hebei Education Department(Grant No.QN2023206).
文摘Origami mechanisms are extensively employed in various engineering applications due to their exceptional folding performance and deformability.The key to designing origami mechanisms lies in the design of the creases.The crease design is often derived from experience and inspiration,so it is crucial to have a systematic approach to crease design.In this paper,a novel synthesis approach based on graph theory is proposed,which effectively addresses the challenge of designing the creases in origami mechanisms.The essence of this method lies in the acquisition of the double symmetrical crease pattern through the directed graph product operation of two subgraphs.The crease pattern can be simplified by employing a technique that eliminates certain creases while preserving the non-isomorphism and symmetry of the pattern.An improved mixed-integer linear programming model is developed to achieve an automatic distribution of the peak_valley creases of the origami.The proposed method ultimately generates 12 unique double symmetrical crease patterns.The new method proposed in this paper,through systematic design,significantly improves the efficiency of mechanism design while opening up broad prospects for exploring new mechanism structures,thereby greatly expanding its application potential in cutting-edge fields such as aerospace engineering and intelligent robots.
文摘The ancient arts of paper folding and cutting-origami and kirigami-have long captivated both artists and engineers.Today,these techniques are inspiring the creation of adaptive structures and innovative metamaterials that challenge conventional mechanical paradigms.Whereas early research in origami/kirigami primarily addressed design principles and folding kinematics to achieve vast shape transformations,breakthroughs since the 2010s have unlocked new avenues in folding-and cutting-induced mechanics.By harnessing folding-induced deformations and leveraging strong geometric nonlinearities,researchers now realize exceptional mechanical properties such as auxetic behavior,high reconfigurability,programmable stiffness,impact absorption,and bistability or multi-stability.
基金Supported by National Natural Science Foundation of China(Grant Nos.52192634,52305015,52335003)Guangdong Basic and Applied Basic Research Foundation(Grant No.2023A1515011268)Science and Technology Innovation Committee of Shenzhen(Grant Nos.GXWD20231129102029003,KQTD20210811090146075).
文摘The intricate relationship between origami and mechanism underscores the fertile ground for innovation,which is particularly evident in the construction theory of thick-panel origami.Despite its potential,thick panel origami remains relatively unexplored in the context of single-loop metamorphic mechanisms.Drawing inspiration from thickpanel origami,particularly Miura origami,this study proposes a pioneering single-loop 6R multiple metamorphic mechanism.Through rigorous mathematical modeling(including the construction and resolution of the D-H closed-loop equation)and leveraging advanced analytical tools such as the screw theory and Lie theory,this study meticulously elucidates the planar,spherical,and Bennett motion branches of the mechanism.Furthermore,it delineates all the three bifurcation points between the motion branches,thereby providing a comprehensive understanding of the kinematic behavior of the mechanism.A metamorphic network can be constructed by applying several single-loop mechanisms to a symmetrical layout.Owing to its metamorphic properties,this network can act as a structural backbone for deployable antennas,aerospace shelters,and morphing wing units,thereby enabling a single mechanism to achieve multiple folding configurations.This paper not only introduces innovative metamorphic mechanisms but also suggests a promising method for uncovering and designing metamorphic mechanisms by developing new mechanisms from thick-panel origami.
基金supported in part by the Fundamental Research Funds for the Central Universities under Grant CSA-TS202404in part by the National Natural Science Foundation of China under Grant 12172226.
文摘The unique arrangement of panels and folds in origami structures provides distinct mechanical properties,such as the ability to achieve multiple stable states,reconfigure shapes,and adjust performance.However,combining movement and control functions into a simple yet efficient origami-based system remains a challenge.This study introduces a practical and efficient bistable origami mechanism,realized through lightweight and tailored designs in two bio-inspired applications.The mechanism is constructed from two thin materials:a PET sheet with precisely cut flexible hinges and a pre-tensioned elastic band.Its mechanical behavior is studied using nonlinear spring models.These components can be rearranged to create new bistable structures,enabling the integration of movement and partial control features.Inspired by natural systems,the mechanism is applied to two examples:a passive origami gripper that can quickly and precisely grasp moving objects in less than 100 ms,and an active magnetic-driven fish tail capable of high-speed swimming in multiple modes,reaching a maximum straight-line speed of 3.35 body lengths per second and a turning speed of 2.3 radians per second.This bistable origami mechanism highlights its potential for flexible design and high performance,offering useful insights for developing origami-based robotic systems.
基金supported by National Natural Science Foundation of China under Grant no.52475067.
文摘This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.
基金support provided by the Hong Kong RGC Theme-based Research Scheme(No.AoE/M-402/20)Hong Kong RGC Area of Excellence Scheme(No.AoE/E-101/23-N)+1 种基金Hong Kong RGC Theme-based Research Scheme(No.T45-406/23-R)the Hong Kong Innovation and Technology Commission via the Hong Kong Branch of National Precious Metals Material Engineering Research Center.
文摘Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.
基金supported by the National Key Research and Development Program of China(Nos.2021YFF1200300,2020YFA0909000)National Natural Science Foundation of China(Nos.22025404,32471426)+3 种基金Innovative Research Group of High-Level Local Universities in Shanghai(No.SHSMU-ZLCX20212602)Natural Science Foundation of Shanghai(No.23ZR1438700)Shanghai Municipal Health Commission(No.2022JC027)Shanghai Sailing Program(No.22YF1424400)。
文摘RNA offers distinct advantages for molecular self-assembly as a unique and programmable biomaterial.Recently,single-stranded RNA(ssRNA)origamis,capable of self-folding into defined nanostructures within a single-stranded RNA molecule,are considered a promising platform for immune recognition and therapy.Here,we utilize single-stranded rod RNA origami(Rod RNA-OG)as functional nucleic acid to synthesize valence-programmed RNA structures in a one-pot manner.We discover that the polyvalent RNA origamis are resistant to RNase degradation and can be efficiently internalized by macrophages for subsequent innate immune activation,even in the absence of any external protective agents such as lipids or polymers.The valence-programmed RNA origamis thus hold great promise as novel agonists for immunotherapy.
基金Project supported by the National Natural Science Foundation of China(Nos.12162004 and 11562001)the Doctoral Research Start-up Fund Project at University of South China(No.Y00043-13)。
文摘This paper presents,for the first time,an effective numerical approach based on the isogeometric analysis(IGA)and the six-variable quasi-three dimensional(3D)higher-order shear deformation theory(HSDT)to study the free vibration characteristics of functionally-graded(FG)graphene origami(GOri)-enabled auxetic metamaterial(GOEAM)plates submerged in a fluid medium.The plate theory incorporates the thickness stretching and the effects of transverse shear deformation without using any shear correction factors.The velocity potential function and Bernoulli's equation are used to derive the hydrodynamic pressure acting on the plate surface.Both horizontally and vertically immersed plate configurations are considered here in the form of inertia effects.The plates are composed of multilayer GOEAMs,with the GOri content varying through the plate's thickness in a layer-wise manner.This design results in graded auxetic growth.The material properties are evaluated by mixing rules and a genetic programming(GP)-assisted micromechanical model.The governing equations of motion for the FG-GOEAM plates immersed in a fluid medium are derived by Hamilton's principle.After validating the convergence and accuracy of the present model,a comprehensive parametric study is carried out to examine the effects of the GOri content,GOri distribution pattern,GOri folding degree,fluid level,immersed depth,and geometric parameter on the natural frequencies of the FG-GOEAM plates.The results show that the natural frequencies for the four GOri distribution patterns increase with the increase in the layer number when the lay number is fewer than 10,and then stabilize after the layer number reaches 10.Besides,in general,the natural frequency of the FG-GOEAM plate in a vacuum or fluid increases when the GOri content increases,while decreases when the GOri folding degree increases.Some additional findings related to the numerical results are presented in the conclusions.It is believed that the present results are useful for the precise design and optimization of FG-GOEAM plates immersed in a fluid medium.
基金supported by the National Key Research and Development Program ofChina(Grant No.2020YFB1312900)the National Natural Science Foundation of China(Grant Nos.12272096,11932015)the Shanghai Pilot Program forBasicResearch-Fudan University 21TQ1400100-22TQ009.
文摘Multi-stable origami structures and metamaterials possess unique advantages and could exhibit multiple stable three-dimensional configurations,which have attracted widespread research interest and held promise for applications in many fields.Although a great deal of attention has been paid to the design and application of multi-stable origami structures,less knowledge is available about the transition sequence among different stable configurations,especially in terms of the fundamental mechanism and the tuning method.To fill this gap,with the multi-stable dual-cell stacked Miura-ori chain as a platform,this paper explores the rules that govern the configuration transition and proposes effective methods for tuning the transition sequence.Specifically,by correlating the energy evolution,the transition paths,and the associated force-displace-ment profiles,we find that the critical extension/compression forces of the component cells play a critical role in governing the transition sequence.Accordingly,we summarize the rules for predicting the transition sequence:the component cell that first reaches the critical force during quasi-static extension or compression will be the first to undergo a configuration switch.Based on these findings,two methods,i.e.,a design method based on crease-stiffness assignment and an online method based on internal pressure regulation,are proposed to tune the stability profile and the transition sequence of the multi-stable origami structure.The crease-stiffness design approach,although effective,cannot be employed for online tuning once the prototype has been fabricated.The pressure-based approach,on the other hand,has been shown experimentally to be effective in adjusting the constitutive force-displacement profiles of the component cells and,in turn,tuning the transition sequence according to the summarized rules.The results of this study will advance the state of the art of origami mechanics and promote the engineering applications of multi-stable origami metamaterials.
文摘Origami bellows are formed by folding flat sheets into closed cylindrical structures along predefined creases.As the bellows unfold,the volume of the origami structure will change significantly,offering potential for use as inflatable deployable structures.This paper presents a geometric study of the volume of multi-stable Miura-ori and Kresling bellows,focusing on their application as deployable space habitats.Such habitats would be compactly stowed during launch,before expanding once in orbit.The internal volume ratio between different deployed states is investigated across the geometric design space.As a case study,the SpaceX Falcon 9 payload fairing is chosen for the transportation of space habitats.The stowed volume and effective deployed volume of the origami space habitats are calculated to enable comparison with conventional habitat designs.Optimal designs for the deployment of Miura-ori and Kresling patterned tubular space habitats are obtained using particle swarm optimisation(PSO)techniques.Configurations with significant volume expansion can be found in both patterns,with the Miura-ori patterns achieving higher volume expansion due to their additional radial deployment.A multi-objective PSO(MOPSO)is adopted to identify trade-offs between volumetric deployment and radial expansion ratios for the Miura-ori pattern.
基金supported by the National Natural Science Foundation of China 11821202(Xu Guo)the National Key Research and Development Plan 2020YFB1709401(Xu Guo)the Liaoning Revitalization Talents Program XLYC2001003(Xu Guo)。
文摘Most existing treatments for origami-folding simulations have focused on regular-shaped configurations.This article aims to introduce a general strategy for simulating and analyzing the deformation process of irregular shapes by means of computational capabilities nowadays.To better simulate origami deformation with folding orders,the concept of plane follow-up is introduced to achieve automated computer simulation of complex folding patterns,thereby avoiding intersection and penetration between planes.Based on the evaluation criteria such as the lowest storage energy with tightening and the fastest pace from tightening to unfolding,the optimal crease distribution patterns for four irregular(‘N’-,‘T’-,‘O’-,and‘P’-shaped)origami configurations are then presented under five candidates.When the dimensions of the origami are fixed,it is discovered that simpler folding patterns lead to faster deformation of the origami configuration.When the folding complexity is fixed,higher strain energy results in more rapid origami expansion.
基金the financial supports from Xi’an University of Architecture and Technology
文摘This letter solves an open question of origami paper spring risen by Yoneda et al.(Phys.Rev.E 2019).By using both dimensional analysis and data fitting,an universal scaling law of a paper spring is formulated.The scaling law shows that origami spring force obeys power square law of spring extension,however strong nonlinear to the total twist angle.The study has also successfully generalized the scaling law from the Poisson ratio 0.3 to an arbitrary Poisson's ratio with the help of dimensional analysis.
基金supported by the National Natural Science Foundation of China (Nos. 21504053, 21661162001, 21673139, 91527304, 21722502)Shanghai Pujiang Talent Project (No. 16PJ1402700)+1 种基金the Innovation Fund from Joint Research Center for Precision Medicine set up by Shanghai Jiao Tong University & Affiliated Sixth People's Hospital South Campus (No. IFPM 2016B001)the special program for collaborative innovation in Shanghai University of Medicine & Health Sciences (SPCI-17-15-001)
文摘Herein we demonstrate the construction of three types of parallel gold nanorod(AuNR) clusters using a DNA origami rod(DOR) as the template. Based on the precise control over the position of capture strands on DOR, number and orientation of the AuNR clusters can be well engineered, as evidenced by biological transmission electron microscope(TEM). Importantly, the AuNR clusters exhibit chiroptical responses which are strongly affected by the number of AuNR on rod-like DNA origami.
基金Supported in part by National Key Research and Development Program of China(Grant No.2017YFE0111300)National Natural Science Foundation of China(Grant No.51875334)State Key Lab of Digital Manufacturing Equipment and Technology(Huazhong University of Science and Technology)(Grant No.DMETKF2019007).
文摘Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction,wearable robotics,rehabilitation robotics,etc.In this paper,the authors report on the design,analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell.The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal.The stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast,simple and straightforward manner.The kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links.A prototype is fabricated to conduct experiments for the assessment of the proposed concept.The results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms.
基金supported by the National KeyResearch and Development Program of China(2020YFB1312900)the National Natural Science Foundation of China(No.12072142)+1 种基金the Key Talent Recruitment Program of Guangdong Province(No.2019QN01Z438)the Science Technology and Innovation Commission of Shenzhen Municipality(ZDSYS20210623092005017).
文摘Origami structure has been employed in many engineering applications.However,there is currently no strategy that can systematically achieve stiffness-tunable origami(STO)structures through proper geometric design.Here,we report a strategy for designing and fabricating STO structures based on thick-panel origami using multimaterial 3D printing.By adjusting the soft hinge position,we tune the geometric parameterψto program the stiffness and strength of origami structures.We develop origami structures with graded stiffness and strength by stacking Kresling origami structures with differentψ.The printed structures show great cyclic characteristics and deformation ability.After optimizing combinations of structures with differentψ,the multi-layer Kresling STO structures can effectively reduce the peak impact,showing a good energy absorption effect.The proposed approach can be implemented in various origami patterns to design and tune the mechanical properties of origami structures for many potential applications.
基金support by the National Natural Science Foundation of China(Grant Nos.11972171,11502217)the Programs of Innovation and Entrepreneurship of Jiangsu Province+2 种基金the Fundamental Research Funds for the Central Universities(Nos.2452015054,2452017122)China Postdoctoral Science Foundation(No.2015M570854 and 2016T90949)Open Fund of Key Laboratory for Intelligent Nano Materials and Devices of the Ministry of Education(NUAA)(Grant No.INMD-2019M08)
文摘Graphene is a two-dimensional material that can be folded into diverse and yet interesting nanostructures like macro-scale paper origami.Folding of graphene not only makes different morphological configurations but also modifies their mechanical and thermal properties.Inspired by paper origami,herein we studied systemically the effects of creases,where sp^(2)to sp^(3)bond transformation occurs,on the thermal properties of graphene origami using molecular dynamics(MD)simulations.Our MD simulation results show that tensile strain reduces(not increases)the interfacial thermal resistance owing to the presence of the crease.This unusual phenomenon is explained by the micro-heat flux migration and stress distribution.Our findings on the graphene origami enable the design of the next-generation thermal management devices and flexible electronics with tuneable properties.
