Fabrication, characterization, and heuristic trade space exploration of magnetically actuated Miura-Ori origami structures

The authors develop magnetically actuated Miura-Ori structures through observation, experiment, and computation using an initially heuristic strategy followed by trade space visualization and optimization. The work is novel, especially within origami engineering, in that beyond final target shape approximation, Miura-Ori structures in this work are additionally evaluated for the shape approximation while folding and for their efficient use of their embedded actuators. The structures consisted of neodymium magnets placed on the panels of silicone elastomer substrates cast in the Miura-Ori folding pattern. Initially four configurations, arrangements of magnets on the panels, were selected based on heuristic arguments that (1) maximized the amount of magnetic torque applied to the creases and (2) reduced the number of magnets needed to affect all creases in the pattern. The results of experimental and computational performance metrics were used in a weighted sum model to predict the optimum configuration, which was then fabricated and experimentally characterized for comparison to the initial prototypes. As expected, optimization of magnet placement and orientation was effective at increasing the degree of theoretical useful work. Somewhat unexpectedly, however, trade space results showed that even after optimization, the configuration with the most number of magnets was least effective, per magnet, at directing its actuation to the structure's creases. Overall, though the winning configuration experimentally outperformed its initial, non-optimal counterparts, results showed that the choice of optimum configuration was heavily dependent on the weighting factors. These results highlight both the ability of the Miura-Ori to be actuated with external magnetic stimuli, the effectiveness of a heuristic design approach that focuses on the actuation mechanism, and the need to address path-dependent metrics in assessing performance in origami folding structures.