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Rapid Multi-Physics Simulation for Electro-Thermal Origami Robotic Systems

Origami concepts let to build robotic techniques that can self-assemble to elaborate 3D configurations. Nevertheless, kinematics-primarily based procedures are generally employed and the skills of other domains of physics, these kinds of as electro-thermal actuation.

A current paper proposes a new simulation framework to seize multi-physics of electro-thermally actuated origami.

An instance of a doable nanobot framework. Impression credit history: Walterdenkens via Wikimedia, CC BY-SA 3.

It relies on the bar and hinge design and can seize electrically generated community heating, thermally induced crease curvature, thermomechanically coupled big folding, contact-induced panel interaction, and other loadings these kinds of as gravity.

The framework is demonstrated to be powerful and effective in simulating, creating, and optimizing electro-thermal or thermally actuated origami robotic techniques. Its apps involve the simulation of an origami crane pattern and optimization of an origami robotic gripper.

Electro-thermally actuated origami supplies a novel method for making 3-D techniques with highly developed morphing and useful capabilities. However, it is currently tricky to simulate the multi-physical habits of these kinds of techniques simply because the electro-thermal actuation and big folding deformations are extremely interdependent. In this operate, we introduce a fast multi-physics simulation framework for electro-thermal origami robotic techniques that can seize: thermo-mechancially coupled actuation, inter panel contact, heat transfer, big deformation folding, and other elaborate loading applied on to the origami. Comparisons with finite component simulations validate the proposed framework for capturing origami heat transfer with distinct program geometries, supplies, and bordering environments. Verification versus physical electro-thermal micro origami even more demonstrates the validity of the proposed design. Simulations of additional elaborate origami styles and a scenario examine for origami optimization are provided as application illustrations to clearly show the capacity and performance of the design. The framework supplies a novel simulation resource for analysis, structure, regulate, and optimization of lively origami robotic techniques, pushing the boundary for possible morphing and useful capacity.

Exploration paper: Zhu, Y. and Filipov, E. T., “Rapid Multi-Physics Simulation for Electro-Thermal Origami Robotic Systems”, 2021. Connection: https://arxiv.org/stomach muscles/2102.10078