From Folding Mechanics to Robotic Function: A Unified Modeling Framework for Compliant Origami

TL;DR

This paper introduces a unified modeling framework based on discrete differential geometry for compliant origami, enabling seamless analysis of folding mechanics, stability, and robotic functionality in a single, predictive computational platform.

Contribution

It develops a geometry consistent variational framework that unifies panel elasticity and crease rotation, bridging rigid and compliant origami mechanics for robotic applications.

Findings

Captures rigid folding limits, bending, and multistability within one model.

Demonstrates programmable stability and deformation control.

Supports multiphysics simulations including gravity, contact, and actuation.

Abstract

Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability driven transitions in compliant origami remains lacking. Here, we introduce a geometry consistent modeling framework based on discrete differential geometry (DDG) that unifies panel elasticity and crease rotation within a single variational formulation. By embedding crease panel coupling directly into a mid edge geometric discretization, the framework naturally captures rigid folding limits, distributed bending, multistability, and nonlinear dynamic snap through within one mechanically consistent structure. This unified description enables programmable control of stability and deformation across rigid and compliant regimes, allowing origami structures to transition from static folding mechanisms to active robotic modules. An implicit dynamic formulation incorporating gravity, contact, friction, and magnetic actuation further supports strongly coupled multiphysics simulations. Through representative examples spanning single fold bifurcation, deployable Miura membranes, bistable Waterbomb modules, and Kresling based crawling robots, we demonstrate how geometry driven mechanics directly informs robotic functionality. This work establishes discrete differential geometry as a foundational design language for intelligent origami robotics, enabling predictive modeling, stability programming, and mechanics guided robotic actuation within a unified computational platform.