Driving Flip Origami Motions with ThermalResponsive Shape Memory Alloy This paper proposes a motion generation approach to flipping origami models. According to the geometrical principle of an infinite flip origami and using the shape memory properties of nickeltitanium alloy with temperature change, the memory alloy spring is selected as the driving units of origami motions. With conductivity, aluminum foil paper is selected as the wire connecting the memory alloy spring. By designing different circuit connection manners, the memory alloy spring will change the temperature deformation and then drive the movement of the origami. The paper provides a detailed description of how to use the geometric principle to design the origami shape, and analyze the movement principle of the model. We use aluminum foil paper and memory alloy spring with serial and parallel circuit design to study the motion form of the combination of origami and memory alloy spring.

Design of LowProfile Compliant Transmission Mechanisms Robotic origami design allows creating mesoscale robotic systems and mechanisms not limited by degrees of freedom, miniaturization and assembly downsides of conventional transmission mechanisms. However, unlike the traditional rigid approaches, robotic origami application has been limited by the complex deformation and kinematics of the compliant joints and actuation based on active materials or conventional electric motors. To generalize their application at mesoscale requires a combination of the predictability of traditional rigid kinematics and the manufacturing flexibility of robotic origami. Here we present a study of conventional transmission mechanisms, including a slidercrank and camfollower, made in quasi2D form by selective machining and stacking of multiple layers of composite material with minimal assembly. Owing to a compliant design powered by lowprofile piezoelectric motors, our 5.3 mm thick and lightweight mechanisms transmit rotational motion to translational movements in and outofplane. We develop analytic models that we validate in terms of force and motion output on our prototypes.