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Origami of thick panels ages, can only be placed on the faces of a thick
panel, and no fold lines along the depth of the
panels are permitted.
Yan Chen,1 Rui Peng,1 Zhong You2* A partially folded single-vertex four-crease ori-
gami pattern of a zero-thickness rigid sheet is
Origami patterns, including the rigid origami patterns in which flat inflexible sheets are joined shown in Fig. 1A. This pattern is the basic ele-
by creases, are primarily created for zero-thickness sheets. In order to apply them to fold ment in many well-known origami forms, such
structures such as roofs, solar panels, and space mirrors, for which thickness cannot be as the Miura-ori and the square-twist pattern.
disregarded, various methods have been suggested. However, they generally involve adding Four creases divide the sheet into four portions,
materials to or offsetting panels away from the idealized sheet without altering the kinematic with sector angles a12, a23, a34, and a41, respective-
model used to simulate folding. We develop a comprehensive kinematic synthesis for rigid ly, and the sum of these angles equals 2p. To be
origami of thick panels that differs from the existing kinematic model but is capable of flat foldable—the folded origami can be pressed
reproducing motions identical to that of zero-thickness origami. The approach, proven to be flat eventually—a12 + a34 = a23 + a41 = p must be
effective for typical origami, can be readily applied to fold real engineering structures. satisfied (10).
The kinematic motion of this origami can be
O
modeled as a spherical 4R linkage. It has a single
we confine its motions to the symmetric case by diamond pattern. The folding sequences of both linkage is kinematically equivalent to that of the
letting zero- and nonzero-thickness models are shown spherical linkage at W, as shown in Fig. 4C.
in Fig. 3C and movie S1. This agrees with results Considering the common folds appearing in
ϕ1 ¼ ϕ4 and ϕ2 ¼ ϕ3 ¼ ϕ5 ¼ ϕ6 ð8Þ
reported by De Temmerman (8), but a complete both Bricard linkages as we did with the square-
it reduces to a linkage with a single degree of mathematic proof is presented here. twist pattern described previously, the waterbomb
freedom. Another typical six-crease origami pattern is pattern for the thick panel can be obtained. The
The corresponding thick-panel pattern is given the traditional waterbomb pattern (16), whose folding sequence of nonzero thickness model is
in Fig. 3B, in which all sector angles are iden- zero-thickness origami pattern is shown in shown in Fig. 4D and movie S1.
tical to those of the zero-thickness pattern. The Fig. 4A. Unlike the diamond pattern, there are If m ≠ 1, the motion of the corresponding
distances between axes of fold lines are marked two types of vertices, marked as D and W. D Bricard linkage differs from that of the spherical
in the diagram. is a special case of the diamond pattern for linkage at W, although both are flat foldable and
The 6R assembly of Fig. 3B reassembles the which Eqs. 9 and 10 can be used to syntheses can expand flat, which is demonstrated by the
plane-symmetric Bricard linkage (15) with line- thick panel origami. W, specific to the water- relationship between ϕ1 (ϕBr Br
1 ) and ϕ2 (ϕ2 ) in
and plane-symmetric behavior. The geometri- bomb pattern, is enlarged in Fig. 4B, in which fig. S14. This indicates that the thick-panel ori-
cal conditions of the Bricard linkage for the the sector angles are gami can be devised by the mechanism theory
distances between neighboring axes of the ro- alone without referring to its parent rigid ori-
p
tational joints are a12 ¼ a61 ¼ and gami pattern.
2 We have developed a comprehensive kinematic
a12 ¼ a61 ; a23 ¼ a56 ; and a34 ¼ a45 ð9Þ p
a23 ¼ a34 ¼ a45 ¼ a56 ¼ ð11Þ model for rigid origami of panels with nonzero
In addition, to achieve compact folding, there 4 thickness. This is done by identifying a spatial
must be For W, we can show that the corresponding linkage model that is kinematically equivalent to
a12 þ a23 ¼ a34 ; ð10Þ Bricard linkage is a plane-symmetric one in which the rigid origami of a zero-thickness sheet. In
the thicknesses of subpanels must satisfy other words, the motion of the spatial linkage
which is obvious by considering the completely mimics that of the spherical linkage commonly
packaged configuration. a23 ¼ a56 ; a34 ¼ a45 ¼ ma23 ; and used to model rigid origami. To achieve this, we
The kinematic motion of this Bricard linkage a12 ¼ a61 ¼ ð1 þ mÞa23 ð12Þ identified a spatial linkage that has the angular
again matches that of the spherical 6R linkage conditions for arrangement of fold lines identical
of the zero-thickness model (fig. S8). This enables in order to achieve compact folding. m is a con- to that of the spherical linkage and then proved
us to make a thick-panel origami arch using the stant. When m = 1, the motion of this Bricard analytically that their motions are precisely alike.
H
Astronautical Federation, New York, Paper A 31 (1980),
pp. 1–10. ighly elastic electrical conductors are significantly changing conductivity could enable
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644–646 (2014). needed for stretchable electronic circuits, the deployment of superelastic fibers as artificial
5. T. Tachi, in Origami5, P. Wang-Iverson, R. J. Lang, M. Yim, Eds. pacemaker leads, light-emitting displays, muscles, electronic interconnects, supercapac-
(AK Peters, Natick, MA, 2011), pp. 253–264. batteries, supercapacitors, and strain sen- itors, or light-emitting elements.
6. B. J. Edmondson et al., “An offset panel technique for thick sors (1). For such purposes, conducting We replaced the frequently used laminate
rigidily foldable origami,” presented in ASME 2014 International
Design Engineering Technical Conferences, Buffalo, NY, elastomers have been fabricated by incorpo- of a carbon nanotube (CNT) sheet wrapped on
17 to 21 August 2014. rating conducting particles in rubber (2–5) or by a stretched rubber sheet with a multilayer CNT
7. C. S. Hoberman, U.S. Patent No. 4,780,344 (1988). attaching sheets of conducting nanofibers (6–9), sheath wrapped on a rubber fiber core (21, 22).
8. I. A. N. De Temmerman, M. Mollaert, T. Van Mele, L. De Laet, graphene sheets (10, 11), or coiled or serpentine We enabled additional functions by including
Int. J. Space Structures 22, 161–168 (2007).
9. J. Phillips, Freedom of Machinery, vol. II (Cambridge Univ. conductors to a rubber sheet or fiber (12–17). Al- other rubber and CNT sheath layers. The con-
Press, Cambridge, 1990). though reversible strains exceeding 500% have ducting sheaths were derived from highly ori-
10. T. Hull, Congr. Numer. 100, 215–224 (1994). been demonstrated, the quality factor (Q, the ented multiwalled CNT aerogel sheets, which
11. C. H. Chiang, Kinematics of Spherical Mechanisms (Krieger percent strain divided by the percent resistance were drawn from CNT forests (21). Three ba-
Publishing, Malabar, FL, 2000).
12. G. T. Bennett, Engineering 76, 777–778 (1903). change) has been below three for such large sic configurations were deployed: NTSm@fiber,
13. J. S. Beggs, Advanced Mechanism (Macmillan Company, strains (17–20). Elastomeric conductors with very rubber@NTSm@fiber, and NTSn@rubber@
New York, 1966). low quality factors are useful as strain sensors, NTSm@fiber. NTSm@fiber denotes m carbon
14. F. E. Myard, Soc. Math. France 59, 183–210 (1931). but the other applications noted above would nanotube sheet (NTS) layers deposited on top
15. R. Bricard, Leçons de cinématique, Tome II Cinématique
Appliquée (Gauthier-Villars, Paris, 1927), pp. 7–12. benefit from the realization of very high qual- of a rubber fiber core, rubber@NTSm@fiber
16. S. Randlett, The Art of Origami: Paper Folding, Traditional and ity factors. The availability of conducting fibers is a rubber-coated NTSm@fiber, and NTSn@
Modern (Faber and Faber, London, 1963) that can be stretched to great extents without rubber@NTSm@fiber indicates an NTSn sheath
17. Z. You, Y. Chen, Motion Structures (Spon Press, Oxford, UK, (where n is the number of NTS layers) on a
2012).
1
rubber@NTSm@fiber core.
Alan G. MacDiarmid NanoTech Institute, University of Texas
ACKN OW LEDG MEN TS
at Dallas, Richardson, TX 75080, USA. 2Jiangsu Collaborative
The rubber fiber core was highly stretched
This research was funded by the Royal Academy of Engineering Innovation Center of Photovoltaic Science and Engineering, (typically to 1400% strain) during the wrapping
(1314RECI061). Y.C. acknowledges the support of the National Changzhou University, Changzhou 213164, China. 3Jiangnan of NTS layers, and the CNT orientation was pa-
Natural Science Foundation of China (Projects 51290293 and Graphene Research Institute, Changzhou 213149, China. rallel to the rubber fiber direction (Fig. 1A). For
51422506), and Z.Y. acknowledges the support of the Air Force 4
Applied Physics Department, State University of Campinas,
Office of Scientific Research (R&D Project 134028). The authors Campinas, SP 13081-970, Brazil. 5High-Performance
the preparation of rubber@NTSm@fibers, the
also thank H. Feng for verifying one of the diagrams. Materials Institute, Florida State University, Tallahassee, FL outermost rubber coating was applied while
32310, USA. 6Institute of Materials Physics, Tianjin University the rubber core was fully stretched, whereas
of Technology, Tianjin 300384, China. 7School of for the preparation of NTSn@rubber@NTSm@
SUPPLEMENTARY MATERIALS Astronautics, Northwestern Polytechnical University, Xi’an
710072, China. 8Department of Mechanical Engineering,
fibers, the thicker rubber layer used as a dielectric
www.sciencemag.org/content/349/6246/396/suppl/DC1 was deposited on an NTSm@fiber that was not
University of Texas at Dallas, Richardson, TX 75080, USA.
Materials and Methods 9
Supplementary Text
Lintec of America, Nano-Science and Technology Center, stretched (22). The parallel orientations of CNT
Richardson, TX 75081, USA. 10Micro/Nano Science and fibers and the rubber core, the substantial strain
Figs. S1 to S14
Technology Center, Jiangsu University, Zhenjiang 212013,
Movie S1
China.
applied during sheath wrapping, and the use of
6 April 2015; accepted 26 June 2015 *Corresponding author. E-mail: sfang@utdallas.edu (S.F.); a large m resulted in the observed hierarchical
10.1126/science.aab2870 ray.baughman@utdallas.edu (R.H.B.) two-dimensional buckling and corresponding
SUPPLEMENTARY http://science.sciencemag.org/content/suppl/2015/07/22/349.6246.396.DC1
MATERIALS
REFERENCES This article cites 6 articles, 2 of which you can access for free
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