Addressable wireless actuation for multijoint folding robots and devices

Abstract

"Printing" robots and other complex devices through a process of origami-like folding is an emerging and promising manufacturing method due to the inherent simplicity and low cost of folding-based assembly. Folding is used in this class of device to create both complex static structures and flexure-based compliant mechanisms. Dependency on batteries to power these folds with no external wires is a hurdle to giving small-scale folding robots and devices functionality. We demonstrate a battery-free wireless folding method for dynamic multijoint structures, achieving addressable folding motions-both individual and collective folding-using only basic passive electronic components on the device. The method is based on electromagnetic power transmission and resonance selectivity for actuation of resistive shape memory alloy actuators without the need for physical connection or line of sight. We demonstrate the utility of this approach using two folded devices at different sizes using different circuit approaches.