This work seeks to provide a framework for the numerical simulation of magneto-active elastomer (MAE) composite structures for use in origami engineering applications. The emerging field of origami engineering employs folding techniques, an array of crease patterns traditionally on a single flat sheet of paper, to produce structures and devices that perform useful engineering operations. Effective means of numerical simulation offer an efficient way to optimize the crease patterns while coupling to the performance and behavior of the active material. The MAE materials used herein are comprised of nominally 30% v/v, 325 mesh barium hexafarrite particles embedded in Dow HS II silicone elastomer compound. These particulate composites are cured in a magnetic field to produce magneto-elastic solids with anisotropic magnetization, e.g. they have a preferred magnetic axis parallel to the curing axis. The deformed shape and/or blocked force characteristics of these MAEs are examined in three geometries: a monolithic cantilever as well as two- and four-segment composite accordion structures. In the accordion structures, patches of MAE material are bonded to a Gelest OE41 unfilled silicone elastomer substrate. Two methods of simulation, one using the Maxwell stress tensor applied as a traction boundary condition and another employing a minimum energy kinematic (MEK) model, are investigated. Both methods capture actuation due to magnetic torque mechanisms that dominate MAE behavior. Comparison with experimental data show good agreement with only a single adjustable parameter, either an effective constant magnetization of the MAE material in the finite element models (at small and moderate deformations) or an effective modulus in the minimum energy model. The four-segment finite element model was prone to numerical locking at large deformation. The effective magnetization and modulus values required are a fraction of the actual experimentally measured values which suggests a reduction in the amount of magnetic torque transferred from the particles to the matrix.

One of the challenges in the emerging field of origami engineering is achieving large deformations to enable significant shape transformations. Bistable compliant mechanisms provide a means to achieve this, and the goal of this research is to investigate the feasibility and design of a compliant bistable mechanism that is actuated by magneto active elastomer material. When exposed to an external field, magneto active elastomer material deforms to align embedded magnetic particles with the field. We investigate a case study using magneto active elastomer actuation through the development of finite element analysis models to predict the magnetic field required to snap the device from its first stable position to its second for various geometries and field strengths. The finite element analysis model also predicts the displacement of the mechanism as it moves from one position to the other to determine whether the device is in fact bistable. These results can be used to understand the relationship between the substrate properties and the bistability of the device. The experimental results validate the finite element analysis models and demonstrate the functionality of active magneto active elastomer materials to be used as actuators for such devices and applications of origami engineering.

The use of origami principles to create 3-dimensional shapes has the potential to revolutionize active material structures and compliant mechanisms. Active origami structures can be applied to a broad range of areas such as reconfigurable aircraft and deployable space structures as well as instruments for minimally invasive surgery. Our current research is focused on dielectric elastomer (DE) and magneto active elastomer (MAE) materials to create multi-field responsive structures. Such multi-field responsive structures will integrate the DE and MAE materials to enable active structures that fold/unfold in different ways in response to electric and/or magnetic field. They can also unfold either as a result of eliminating the applied field or in response to the application of an opposite field. This concept is demonstrated in a folding cube shape and induced locomotion in the MAE material. Two finite element models are developed for both the DE and MAE materials and validated through physical testing of these materials. The models are then integrated to demonstrate multi-field responses of a bi-fold multi-field responsive structure. The bifold model is designed to fold about one axis in an electric field and a perpendicular axis in a magnetic field. Future modeling efforts and research directions are also discussed based on these preliminary results.

Magneto-active elastomers (also called magnetorheological elastomers) are most often used in vibration attenuation application due to their ability to increase in shear modulus under a magnetic field. These shear-stiffening materials are generally comprised of soft-magnetic iron particles embedded in a rubbery elastomer matrix. More recently researchers have begun fabricating MAEs using hard-magnetic particles such as barium ferrite. Under the influence of uniform magnetic fields these hard-magnetic MAEs have shown large deformation bending behaviors resulting from magnetic torques acting on the distributed particles and consequently highlight their ability for use as remotely powered actuators. Using the magnetic-torque-driven hard-magnetic MAE materials and an unfilled silicone elastomer, this work develops novel composite geometries for actuation and locomotion. MAE materials are fabricated using 30% v/v 325 mesh barium ferrite particles in Dow Corning HS II silicone elastomers. MAE materials are cured in a 2T magnetic field to create magnetically aligned (anisotropic) materials as confirmed by vibrating sample magnetometry (VSM). Gelest optical encapsulant is used as the uniflled elastomer material. Mechanical actuation tests of cantilevers in bending and of accordion folding structures highlight the ability of the material to perform work in moderate, uniform fields of μ0H = 150 mT. Computational simulations are developed for comparison. Folding structures are also investigated as a means to produce untethered locomotion across a flat surface when subjected to an alternating field similar to scratch drive actuators; geometries investigated show promising results.

Origami engineering — the use of origami principles in engineering applications — provides numerous opportunities to revolutionize the way we design, manufacture, assemble, and package products and devices. By combining origami principles with active materials, we can create reconfigurable products and devices that can fold and unfold on demand. In origami, the folded medium is paper, yet many engineering applications require materials with finite thickness to provide the necessary strength and stiffness to achieve the desired functionality. In such applications, it is important to distinguish between bending and folding so that we understand the differences in material behavior when actuated. In this paper, we propose definitions for bending and folding for materials used in engineering applications. The literature is reviewed in detail to provide context and support for the proposed definitions, and examples from our own research with active materials, specifically, magneto-active elastomers (MAE) and dielectric elastomers (DE), are used to illustrate the subtle, yet important, differences between bending and folding in materials with finite thickness.