Origami-inspired designs for structural and material systems have received significant attention due to their attractive kinematic and mechanical properties, design flexibility, reconfigurability, and multifunctionality. While promising, almost all studies have been focusing on the translational motion/deformation of structures and materials. Little attention has been given to origami-based designs in rotational elements, such as joints, shafts, and motors, despite the ubiquity of such functions in engineering. This research advances the state of the art through introducing a new coupled Kresling modular structure (CKMS) concept to achieve pure rotational motions created by integrating two Kresling origami tube modules with opposite chirality. A model with nondimensionalized parameters is first developed to investigate the various kinematic and mechanical properties of CKMS. Results show that several key CKMS rotational characteristics, such as multistability, energy absorption, and tunable stiffness can be programmed by varying key geometric design parameters. We find that interactions between modules may give rise to an asymmetric bistable property that enhances energy absorption. The CKMS enables tunable stiffness and quasi-zero stiffness (QZS) in rotation, which can be harnessed for vibration isolation. Furthermore, the proposed CKMS exhibits self-locking, a feature of certain origami patterns that arises from panel contact and offers a means to change stiffness significantly. Design guidelines to synthesize the multiple functionalities and mechanical properties explored in this research are discussed. The outcomes lay the foundation for origami-inspired structures that can transmit torque, isolate torsional vibrations, and absorb energies in rotational systems.

折纸风格的结构和材料系统设计因其吸引人的运动学和机械性能，设计灵活性，可重构性和多功能性而受到了广泛关注。尽管很有希望，但几乎所有研究都集中在结构和材料的平移运动/变形上。尽管工程中普遍存在这种功能，但对诸如折缝，轴和电动机之类的旋转元件中基于折纸的设计却鲜有关注。这项研究通过引入新的耦合Kresling模块化结构（CKMS）概念来实现先进的技术水平，以实现通过将两个具有相反手性的Kresling折纸管模块集成在一起而产生的纯旋转运动。首先开发了具有无量纲参数的模型，以研究CKMS的各种运动学和力学性能。结果表明，可以通过改变关键的几何设计参数来编程几个关键的CKMS旋转特性，例如多重稳定性，能量吸收和可调刚度。我们发现模块之间的相互作用可能会导致增强能量吸收的不对称双稳态特性。CKMS可实现旋转中的可调刚度和准零刚度（QZS），可利用它们来隔离振动。此外，提出的CKMS具有自锁性，这是面板接触引起的某些折纸图案的特征，并提供了显着改变刚度的方法。讨论了综合本研究中探讨的多种功能和机械性能的设计指南。这些成果为折纸风格的结构奠定了基础，这些结构可以传递扭矩，隔离扭转振动并吸收旋转系统中的能量。