Origami Inspired Self-assembly of Patterned and Reconfigurable Particles

Abstract

There are numerous techniques such as photolithography, electron-beam lithography and soft-lithography that can be used to precisely pattern two dimensional (2D) structures. These technologies are mature, offer high precision and many of them can be implemented in a high-throughput manner. We leverage the advantages of planar lithography and combine them with self-folding methods 1-20 wherein physical forces derived from surface tension or residual stress, are used to curve or fold planar structures into three dimensional (3D) structures. In doing so, we make it possible to mass produce precisely patterned static and reconfigurable particles that are challenging to synthesize.In this paper, we detail visualized experimental protocols to create patterned particles, notably, (a) permanently bonded, hollow, polyhedra that self-assemble and self-seal due to the minimization of surface energy of liquefied hinges [21][22][23] and (b) grippers that self-fold due to residual stress powered hinges 24,25 . The specific protocol described can be used to create particles with overall sizes ranging from the micrometer to the centimeter length scales. Further, arbitrary patterns can be defined on the surfaces of the particles of importance in colloidal science, electronics, optics and medicine. More generally, the concept of self-assembling mechanically rigid particles with self-sealing hinges is applicable, with some process modifications, to the creation of particles at even smaller, 100 nm length scales 22,26 and with a range of materials including metals 21 , semiconductors 9 and polymers 27. With respect to residual stress powered actuation of reconfigurable grasping devices, our specific protocol utilizes chromium hinges of relevance to devices with sizes ranging from 100 μm to 2.5 mm. However, more generally, the concept of such tether-free residual stress powered actuation can be used with alternate high-stress materials such as heteroepitaxially deposited semiconductor films 5,7 to possibly create even smaller nanoscale grasping devices. Video LinkThe video component of this article can be found at https://www.jove.com/video/50022/ ProtocolWe first describe a general protocol that can be used to fabricate patterned, sealed particles and reconfigurable grasping devices. Along with the general protocol, we provide one specific, visualized example for both the fabrication of sealed dodecahedral particles and reconfigurable microgrippers.

Kinematics of Origami Structures With Smooth Folds

“…Engineering advantages of origami-inspired structures and devices include compact deployment/storage capability [4], a reduction in manufacturing complexity [5,6], and the potential for reconfigurability [7,8]. Existing and potential applications of origami solutions to device and structural design problems include deployable structures for space exploration [9][10][11][12], electronic components with improved properties [13][14][15], robotic components [16,17], foldable wings [18], cellular materials [19], metamaterials [20][21][22][23], and shelters [24,25], among others [26][27][28].…”

The Next-Generation Surgical Robots

“…A series of self-folding grippers have been demonstrated in Refs. [134][135][136] with a variety of materials, shapes, and sizes, mostly targeted at single-cell manipulation. Techniques such as photolithography, electron-beam lithography, and soft lithography have been used to precisely patern two-dimensional sheets of materials, namely metals, semiconductors, and polymeric ilms.…”

Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing, and Retrieving Untethered Microgrippers

“…Taking inspiration from the multijointed design of human fingers, the μ -grippers were designed with flexible hinges interconnected with rigid phalanges [20]. The tip-to-tip size of the μ -grippers is 980 μ m when they are open.…”