  Electro-thermally actuated origami provides a novel method for creating 3-D
systems with advanced morphing and functional capabilities. However, it is
currently difficult to simulate the multi-physical behavior of such systems
because the electro-thermal actuation and large folding deformations are highly
interdependent. In this work, we introduce a rapid multi-physics simulation
framework for electro-thermal origami robotic systems that can capture:
thermo-mechancially coupled actuation, inter panel contact, heat transfer,
large deformation folding, and other complex loading applied onto the origami.
Comparisons with finite element simulations validate the proposed framework for
capturing origami heat transfer with different system geometries, materials,
and surrounding environments. Verification against physical electro-thermal
micro origami further demonstrates the validity of the proposed model.
Simulations of more complex origami patterns and a case study for origami
optimization are provided as application examples to show the capability and
efficiency of the model. The framework provides a novel simulation tool for
analysis, design, control, and optimization of active origami robotic systems,
pushing the boundary for feasible morphing and functional capability.
