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Orthogonally assembled double-layered corrugated (OADLC) mechanisms are aclass of foldable structures that harness origami-inspired methods to enhancethe structural stiffness of resulting devices; these mechanisms have extensiveapplications due to their lightweight, compact nature as well as their highstrength-to-weight ratio. However, the design of these mechanisms remainschallenging. Here, we propose an efficient method to rapidly design OADLCmechanisms from desired behavioral specifications, i.e. in-plane stiffness andout-of-plane stiffness. Based on an equivalent plate model, we develop andvalidate analytical formulas for the behavioral specifications of OADLCmechanisms; the analytical formulas can be described as expressions of designparameters. On the basis of the analytical expressions, we formulate the designof OADLC mechanisms from behavioral specifications into an optimization problemthat minimizes the weight with given design constraints. The 2D foldingpatterns of the optimized OADLC mechanisms can be generated automatically anddirectly delivered for fabrication. Our rapid design method is demonstrated bydeveloping stiffness-enhanced mechanisms with a desired out-of-plane stiffnessfor a foldable gripper that enables a blimp to perch steadily under airdisturbance and weight limit.

Computational Design and Fabrication of Corrugated Mechanisms from Behavioral Specifications