  Orthogonally assembled double-layered corrugated (OADLC) mechanisms are a
class of foldable structures that harness origami-inspired methods to enhance
the structural stiffness of resulting devices; these mechanisms have extensive
applications due to their lightweight, compact nature as well as their high
strength-to-weight ratio. However, the design of these mechanisms remains
challenging. Here, we propose an efficient method to rapidly design OADLC
mechanisms from desired behavioral specifications, i.e. in-plane stiffness and
out-of-plane stiffness. Based on an equivalent plate model, we develop and
validate analytical formulas for the behavioral specifications of OADLC
mechanisms; the analytical formulas can be described as expressions of design
parameters. On the basis of the analytical expressions, we formulate the design
of OADLC mechanisms from behavioral specifications into an optimization problem
that minimizes the weight with given design constraints. The 2D folding
patterns of the optimized OADLC mechanisms can be generated automatically and
directly delivered for fabrication. Our rapid design method is demonstrated by
developing stiffness-enhanced mechanisms with a desired out-of-plane stiffness
for a foldable gripper that enables a blimp to perch steadily under air
disturbance and weight limit.
