Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Examples of quadrilateral preserving local operations: (a) two-edge split, (b) edges split, (c) extrude faces, (d) insert edge, (e) insert eye, and (f) ring split

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Examples of procedures for the creation of quad-heavy meshes: (a) create n × m grid, (b) create toroid, (c) create polygon, and (d) thicken a medial axis

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Topologically distinct pattern categories and folded shapes from those patterns. The dashed lines represent valley folds and the dotted lines represent mountain folds. (a) Glide-reflection wallpaper pattern on a rectangular grid. (b) Simple pattern on a quad-pattern coverable domain that demonstrates axial symmetry. (c) Locally consistent wallpaper pattern on a planar two-manifold mesh domain with quadrilateral and triangular faces. Note that the pattern in the center square is different than the rest (the center square requires significant bending of the faces to be folded).

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: SMA-based self-folding sheet heated in a Miura-ori-based pattern deforms in a structured manner, enabling locomotion. The contour plot shows martensite volume fraction.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: SMA-based self-folding sheet homogeneously heated on its top SMA layer deforms toward a form of limited utility. The contour plot shows martensite volume fraction.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: (a) Staggered mesh design for the SMA-based self-folding sheet. (b) Experimental prototype of a self-folding sheet showing reference flat configuration and two different “folded” configurations. Note (i) the broad nature of the “folds” in this preliminary prototype and (ii) the reconfigurability of this single prototype.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Examples of meshes with or without QPC property. Shaded regions indicate pattern inconsistency in non-QPC meshes: ((a) and (b)) QPC examples and ((c) and (d)) non-QPC examples.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Elliptical annulus geometry and fold pattern example. The folds are already thickened by the in-house software.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Main effects plot showing the trends of maximum absolute out-of-plane displacement normalized by semimajor length versus various input parameters for the elliptical annulus

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: (a) Shaded deformed and undeformed configurations for the elliptical annulus with maximum uzmax/a. This annulus corresponds to design 6 in Table 4. (b) Martensite volume fraction contour plots of the annulus. The fold radius of curvature Rf is shown at the location of tightest folds.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Fold locations, shaded undeformed and deformed plots, and martensite volume fraction contour plots for the hollow squarelike self-folding sheet. The fold radius of curvature is shown at the location of tightest folds.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Uniaxial tensile test results of an elastomeric specimen (RTV silicone) used to fabricate self-folding sheets. A linear fit is used to determine the effective Young's modulus of the elastomer for small strains.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Self-folding SMA-based laminate morphing toward a regular waterbomb model generated by freeform origami. The crease pattern, the model in the visualization tool of freeform origami, martensite volume fraction contour plot, and shaded shape deformation plot from abaqus FEA software at the end of the analysis procedure are presented.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Self-folding SMA-based laminate morphing toward a regular Ron Resch model generated by freeform origami. The crease pattern, the model in the visualization tool of freeform origami, martensite volume fraction contour plot, and shaded shape deformation plot from abaqus FEA software at the end of the analysis procedure are presented.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Process used to import a crease pattern from freeform origami into abaqus finite element software: (a) fold pattern generated by freeform origami imported as a line sketch, (b) rotation, scaling, and positioning of the sketch into a sheet with user-defined dimensions, (c) thickening of folding lines to obtain arbitrarily thick heating regions [39], (d) Mountain and valley fold assignments, and (e) discretization into finite elements for analysis. This process is based on the one previously shown in Ref. [39].

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Self-folding SMA-based laminate morphing toward a regular Miura-ori model generated by freeform origami. The crease pattern is shown (solid lines indicate mountain folds while dashed lines indicate valley folds). The model in the visualization tool of freeform origami is also shown. Martensite volume fraction contour plot and shaded shape deformation plot from abaqus FEA software at the end of the analysis procedure are presented. The symmetric analysis domain has been mirrored for the sake of visualization.

Date of download: 10/21/2017 Copyright © ASME. All rights reserved. From: Design Tools for Patterned Self-Folding Reconfigurable Structures Based on Programmable Active Laminates J. Mechanisms Robotics. 2016;8(3):031015-031015-12. doi:10.1115/1.4031955 Figure Legend: Self-folding SMA-based laminate morphing toward a Miura-ori-based freeform model generated by freeform origami. The crease pattern is shown (solid lines indicate mountain folds while dashed lines indicate valley folds). The model in the visualization tool of freeform origami is also shown. Martensite volume fraction contour plot and shaded shape deformation plot from abaqus FEA software at the end of the analysis procedure are presented. The symmetric analysis domain has been mirrored for the sake of visualization.