Preparation time: 10 min
Process time: 1 hour
- Coated paper (NB-Wf-3GF100)
- SMA (Bio Metal Helix)
- Wires (2 colors)
- Heat shrinkable sleeve
- MOSFET J681 2 pieces
- Pins header
- Bread board
Prepare the laser cutterSend the data to the laser cutter and adjust the settings. (Height, Volume, Power for each colored line, etc.)download : origami_cutting_pattern Setting for Manual Control – Black : Power 15.0%, Speed 100%, PPI 67, Z-Axis Off, Laser Both – Red : Power 5.0%, Speed 92%, PPI 500, Z-Axis Off, Laser Both – Green : Power 36.8%, Speed 61%, PPI 267, Z-Axis Off, Laser Both – Yellow : Power 16.4%, Speed 100%, PPI 500, Z-Axis Off, Laser Both – Blue : Power 8.5%, Speed 40%, PPI 500, Z-Axis Off, Laser Both
Set the paper
Set the paper and move it in the available area.
Laser cut the paper
The laser cutter will cut the paper in the proper depth based on the settings.
Fold the robot
Fold the paper along the guide lines.
Check the movementMake the fold in the middle of the robot move softer by gently scraping it with a scissor blade.
Prepare the SMAsCut 2 SMAs in the length of 10mm. The SMA is usually wrapped around a cable. Gently separate the SMA form the cable by turning it gently to take out the cable. Throw the cable away, the remaining part is the SMA.
Wire the SMAs and pinsCut 4 wires in the length of 45cm. Make one knot at each end of the wire. Gently pull the SMA to stretch out the ends of the wire. Insert the edge of a SMA to the wire’s knot. Tie the knot with SMA in between.
SMADone! Make 2 pieces of SMA. There is another Recipe to explain how to make SMA.
SolderingMake a knot at the other end of each wire. Tie the wire to the pin and solder them together.
SleevingCover it with the heat shrinkable sleeve.
Marking centerMark the center of the paper with a pen. Cut shallow slits with scissors.
Attach the SMAsPass the SMA through the slits.
CircuitConnect the SMAs to a circuit. Make your own designs and test various types of locomotion.
Arduino ControlYou can design the movement of Origami Robot by controlling SMA with Arduino.
- Instructor in video : Lee Dongchi
- Paper : D. Lee, K. Saito, T. Umedachi, T. D. Ta, and Y. Kawahara, “Demo: Origami Robots with Flexible Printed Circuit Sheets,” Adjunct Proc. of ACM UbiComp 2018, pp. 392-395, Singapore, Oct. 2018.