3D Printing of Passively Actuated Self-Folding Robots with Integrated Functional Modules
Gaolin Ge, Qifeng Yang, Haoran Lu, Tingyu Cheng, Martin Nisser + 1 more
TLDR
A 3D printing method creates passively actuated, self-folding robots from conductive PLA nets, integrating electronics and a predictive folding model.
Key contributions
- Introduces a 3D printing method for self-folding robots using conductive PLA nets and elastic bands.
- Integrates electronics, sensors (capacitive touch, Hall), and motors directly into the flat substrate.
- Develops a closed-form model predicting fold angles, validated experimentally for design optimization.
- Demonstrates applications including modular robot collectives, deployable grippers, and a tendon-driven finger.
Why it matters
This low-cost, stimulus-free method simplifies robot fabrication by integrating actuation and sensing directly into 3D-printed structures. It offers a scalable approach for modular robotics and deployable mechanisms, advancing the field of self-assembling systems.
Original Abstract
We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while the flat state allows accurate placement of electronics and magnets before deployment. The same substrate doubles as electrodes for capacitive touch and supports a reusable platform I/O palette with Hall sensors and eccentric rotating mass (ERM) motors for docking detection and vibration actuation. We also derive a closed-form folding model that balances hinge stiffness with elastic band moment to predict equilibrium fold angles; experiments validate the model and yield a design map linking hinge thickness, band size, and hook spacing to target angles. Using this workflow we realize multiple polyhedral modules and demonstrate three applications: a cube that highlights the potential of self-folding for scalable modular robot collectives, a deployable gripper, and a tendon-driven finger. The method is low cost, stimulus-free, and integrates actuation and sensing.
📬 Weekly AI Paper Digest
Get the top 10 AI/ML arXiv papers from the week — summarized, scored, and delivered to your inbox every Monday.