Modeling and Displacement Analysis of Origami Spring Considering Collision and Deformation of Components

  • Hiroshi MatsuoEmail author
  • Daisuke Matsuura
  • Yusuke Sugahara
  • Yukio Takeda
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The Origami Spring is one of the convertible origamis and its macroscopic motion is often regarded as a single Degree-of-Freedom (DoF) motion while in theory, its DoF is three DoF mechanism. In this paper, a new displacement analysis was introduced to study the behavior of Origami Spring. The Origami Spring was modeled as a link mechanism which includes rigid and compliant components. In particular, folding was represented by a revolute joint, and deformation which is assumed to have an effect on the structural stability was represented by a string. With this model, the displacement analysis is carried out. As the result, it was revealed that a single DoF contributed to translational motion and the other two DoF have a role of adjustment to avoid collision between components in a narrow range. In addition, strain energy based on deformation of string was introduced in order to investigate the macroscopic motion. As the result, its effectiveness was revealed by comparison of theoretical and experimental motions.


Origami Extensible mechanism Kinematic modeling Rigid and compliant mechanism 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.



A part of this research has been done with the Grants-in-Aid for Scientific Research 17H03162 and 18J21466.


  1. 1.
    Lee, D. Y., Kim, J. S., Kim, S. R., Koh, J. S., Cho, K. J.: The deformable wheel robot using magic-ball origami structure, ASME 2013 international design engineering technical con- ferences and computers and information in engineering conference, V06BT07A040 (2013).Google Scholar
  2. 2.
    Onal, C. D., Wood, R. J., Rus, D.: An origami-inspired approach to worm robots, IEEE/ASME Transactions on Mechatronics, Vol. 18, Issue. 2, 430-438 (2013).Google Scholar
  3. 3.
    Tachi, T.: Rigid-foldable thick origami, Origami, Vol. 5, 253-264 (2011).Google Scholar
  4. 4.
    Feng, H., Peng, R., Ma, J., Chen, Y.: Rigid foldability of generalized triangle twist origami pattern and its derived 6r linkages. Journal of Mechanisms and Robotics, 10(5) (2018).Google Scholar
  5. 5.
    Delimont, I. L., Magleby, S. P., Howell, L. L.: Evaluating compliant hinge geometries for origami-inspired mechanisms. Journal of Mechanisms and Robotics, 7(1), 011009 (2015).Google Scholar
  6. 6.
    Wheeler, C. M., & Culpepper, M. L.: Soft origami: Classification, constraint, and actuation of highly compliant origami structures. Journal of Mechanisms and Robotics, 8(5), (2016).Google Scholar
  7. 7.
    Beynon, J.: Spring into Action, BOS Magazine 142, British Origami Society (1990).Google Scholar
  8. 8.
    Matsuo, H., Matsuura, D., Sugahara, Y., Takeda, Y.: Kinematic Characterization of the Origami Spring Based on a Spherical 6R Linkage, New Advances in Mechanisms, Mechanical Transmissions and Robotics, Vol. 46, 187-196 (2016).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hiroshi Matsuo
    • 1
    Email author
  • Daisuke Matsuura
    • 1
  • Yusuke Sugahara
    • 1
  • Yukio Takeda
    • 1
  1. 1.Department of Mechanical EngineeringTokyo Institute of TechnologyMeguro-ku, TokyoJapan

Personalised recommendations