Design and construction of kinematic origami module

Cilj ovog diplomskog rada je dizajn, izvedba i konstrukcija kinematičkih origami modula primjenom drevne origami tehnike i 3D ispisa. Rad opisuje glavne značajke origami tehnike, njezin razvoj kroz prošlost i današnju implementaciju u tehnološkom i umjetničkom smislu. Pružajući uvid u sveprisutnost origami tehnike, naglašene su njezine prednosti i nedostatci. Nadahnut prednostima, rad obrazlaže i detaljno opisuje svaku od iteracija predložene konstrukcije prvotno modelirane u 3D okruženju pomoću prikladnog programskog alata, a zatim i izvedene koristeći 3D ispis. Nadalje, detaljno je objašnjen sustav aktuacije, te način upravljanja niže razine kinematičkim origami modulima. Predloženi dizajn i konstrukcija su zatim izvedeni koristeći 3D pisač, a po završetku, moduli su eksperimentalno verificirani s prezentiranim rezultatima. Za potrebe prezentacije, urađena je i digitalna 3D animacija kinematičkih origami modula koja vjerno dočarava način na koji moduli rade, te pružaju detaljan uvid u svaki od dijelova konstrukcije.Applying an ancient origami technique to a student project, this paper defines and proposes the realization and construction of kinematic origami modules. The main features of origami technique, its development through the past and its current implementation in artistic and technological sense are described. By providing insights into the ubiquity of origami techniques, its advantages and disadvantages are highlighted, this paper, inspired by the advantages of the origami technique, offers an overview for each of the iterations of the mentioned construction, which were originally modeled in a 3D environment using a suitable software tool. Furthermore, the actuation system is explained in detail, as well as the method of lower level control applied to the kinematic origami modules. The proposed design and construction were then fabricated using a 3D printer, and upon assembly, the modules were experimentally verified, and the results presented. For the purpose of presentation, digital 3D animation of the work of kinematic origami modules was also made. The animation vividly captures the way the modules work and gives the viewer a thorough insight into every component the structure is made of