Origami robots self-reconfigure from a quasi two-dimensional manufactured state to three-dimensional mobile robots. By folding, they excel in transforming their initial spatial configuration to expand their functionalities. However, unlike paper-based origamis, where the materials can remain homogeneous, origami robots require varying payloads and controllability of their reconfigurations. Therefore, the mechanisms to achieve automated folding adapt flat thin panels and folding hinges that are often of different materials to achieve the folding. While the fundamental working principle of an origami hinge remains simple, these multi-component, multi-material origami joints can no longer be modeled by beam theory without considering the semi-rigid connections at the material interfaces. Currently, there is no comprehensive model to analyze physical behavior of an actuated folding hinge accurately. In this work, we propose a model based on the plate theory to predict the origami folding joint: we adapt a torsional spring to capture this semi-rigid connection, predict the folding stiffness and bending of origami joints. Herein, the semi-rigid connection is calibrated by quasi-static folding tests on a series of physical origami folding joints, and the accuracy of our model is compared to finite element simulations. With this analytical model, we can accurately simulate the mechanics of physical origami folding joints.

折纸机器人会自动从准二维制造状态重新配置为三维移动机器人。通过折叠，他们擅长转换其初始空间配置以扩展其功能。但是，不同于纸张上的折纸，材料可以保持均质，折纸机器人需要不同的有效负载和可重构的可控性。因此，实现自动折叠的机制适应了通常由不同材料制成的扁平薄板和折叠铰链来实现折叠。尽管折纸铰链的基本工作原理仍然很简单，但是如果不考虑材料界面的半刚性连接，就无法再通过梁理论对这些多部件，多材料折纸接头进行建模。目前，没有全面的模型可以准确地分析驱动折叠铰链的物理行为。在这项工作中，我们提出了一个基于板理论的模型来预测折纸折叠接头：我们采用扭转弹簧来捕获这种半刚性连接，预测折纸接头的折叠刚度和弯曲度。在此，通过一系列物理折纸折叠接头的准静态折叠测试对半刚性连接进行了校准，并将我们模型的精度与有限元模拟进行了比较。使用此分析模型，我们可以准确地模拟物理折纸折叠接头的力学。预测折纸关节的折叠刚度和弯曲。在此，通过一系列物理折纸折叠接头的准静态折叠测试对半刚性连接进行了校准，并将我们模型的精度与有限元模拟进行了比较。使用此分析模型，我们可以准确地模拟物理折纸折叠接头的力学。预测折纸关节的折叠刚度和弯曲。在此，通过一系列物理折纸折叠接头的准静态折叠测试对半刚性连接进行了校准，并将我们模型的精度与有限元模拟进行了比较。使用此分析模型，我们可以准确地模拟物理折纸折叠接头的力学。