Simulation-based approach for paper folding with the aim to design the origami-performing robotic system

Abstract

Origami is a traditional Japanese craft that is based on the folding of the designed structure and can be widely used by industry. Origami folding is not a difficult task for human hands; however, folding by robot hands is such a challenge. In this paper, we suggest a novel approach for designing the origami-performing robotic systems. The main idea of the proposed method is to simulate the forming crease lines in origami models and folding behavior of a sheet of paper by robot end-effectors. The simulation approach becomes the main option in the real-world related with a robotic activity. Our investigation results show that many design parameters of a robot such as geometrical and topological, shape and configuration of the robotic arms, type of forces and their distributions, and others can be defined by the simulation of the folding origami structures. It means that the results of the simulation can be used as a basis of the final robot design without a series of experimental tests. Problems of the numerical simulation, including paper material structure, simulation origami model, the distribution and values of the applying forces, and others are considered carefully. The results of the design process of the robotic system based on the simulation of origami crease forming confirm our idea to use simulation approach with LS-DYNA solver to build the origami-performing robot for complex origami structures. The origami model “Star” was taken as an example to demonstrate the method for the different types of the creases in origami.