Nonlinear dynamics of an origami wheel with shape memory alloy actuators

Origami generates three-dimensional structures from two-dimensional sources and is inspiring engineers to design systems related to different applications as robotics, biomedical and aerospace engineering. The use of smart materials increases the range of applicability of origami systems exploiting adaptive behavior. In this regard, shape memory alloy (SMA) actuators are being used to promote geometrical changes in origami structures. This paper deals with the nonlinear dynamics of an origami wheel with SMA actuators. The origami wheel has strong geometric and constitutive nonlinearities presenting a complex dynamical response. Symmetry assumptions related to waterbomb folding pattern allow one to develop a single degree of freedom reduced-order model system that describes origami dynamics. Based on that, numerical simulations are carried out representing different operational conditions presenting a general comprehension of the origami dynamical response. Origami complex behavior is of concern showing chaotic motions and strong parameter sensitivity.