Layer-By-Layer Fabrication Framework for Self-Folding Origami for Metamaterial and Robotic Applications

Abstract

Actuation of complex origami structures often requires external manipulation or complex internally motorized mechanisms like multi-stage linear actuators and gear linkages. This thesis demonstrates an extension to the direct ink writing (DIW) additive manufacturing process through a layer-by-layer (LBL) framework for fabricating complex multilayer liquid crystal elastomer (LCE) origami structures with digital actuation control using embedded electronics. We aim to achieve untethered actuation of complex origami structures with individually addressable hinge control for robotic and metamaterial applications. Building on prior senior thesis work by Kitty Gingell, who demonstrated the fabrication of a Muira-Ori tube with thermally actuated LCE hinges, we will demonstrate additional configurations of the Muira-Ori tube through individually addressable hinge actuation. To showcase the capabilities of the LBL-DIW process a muira-ori unit cell, muira-ori tube, origami crane, and origami swarm robotic unit cell will be fabricated. This work extends the DIW additive manufacturing process using an LBL technique to incorporate functional materials into DIW 3D prints, enabling the fabrication of complex multi-material and multi-layer origami structures.