Methods for Building Self-Folding Machines

Abstract

Origami can turn a sheet of paper into complex three-dimensional shapes, and similar folding techniques can be used to build structures and mechanisms. However, folding by hand can be difficult and time consuming. This has led to the development of self-folding materials that transform themselves from flat sheets into 3D shapes by bending themselves along hinges. A variety of self-folding methods have been demonstrated at a variety of length scales, but they have not yet been used to build complex machines.

This dissertation demonstrates that self-folding can produce functional machines with a new laminate we refer to as a shape memory composite. We characterize the behavior of this composite with models and experimental data, and use this information to develop design rules for self-folding. We apply these rules to create devices at multiple length scales, including a model crane, a crawling robot, a lamp, and a model ship.