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Liquid crystal elastomers (LCEs) marry the large deformation response of a cross-linked polymer network with the nematic order of liquid crystals pendent to the network. Of particular interest is the actuation of LCE sheets where the nematic order, modeled by a unit vector called the director, is specified heterogeneously in the plane of the sheet. Heating such a sheet leads to a large spontaneous deformation, coupled to the director design through a metric constraint that is now well-established by the literature. Here we go beyond the metric constraint and identify the full plate theory that underlies this phenomenon. Starting from a widely used bulk model for LCEs, we derive a plate theory for the pure bending deformations of patterned LCE sheets in the limit that the sheet thickness tends to zero using the framework of $\Gamma$-convergence. Specifically, after dividing the bulk energy by the cube of the thickness to set a bending scale, we show that all limiting midplane deformations with bounded energy at this scale satisfy the aforementioned metric constraint. We then identify the energy of our plate theory as an ansatz-free lower bound of the limit of the scaled bulk energy, and construct a recovery sequence that achieves this plate energy for all smooth enough midplane deformations. We conclude by applying our plate theory to a variety of examples., Comment: 35 pages, 4 figures

Mechanical metamaterials capable of large deformations are an emerging platform for functional devices and structures across scales. Bistable designs are particularly attractive since they endow a single object with two configurations that display distinct shapes, properties and functionalities. We propose a strategy that takes a common (non-bistable) metamaterial design and transforms it into a bistable one, specifically, by allowing for irregular patterns through geometric perturbations of the unit cell and by leveraging the intercell constraints inherent to the large deformation response of metamaterials. We exemplify this strategy by producing a design framework for bistable planar kirigami metamaterials starting from the canonical rotating-squares pattern. The framework comprises explicit design formulas for cell-based kirigami with unprecedented control over the shape of the two stable states, and an optimization methodology that allows for efficient tailoring of the geometric features of the designs to achieve target elastic properties as well as shape change. The versatility of this framework is illustrated through a wide variety of examples, including non-periodic designs that achieve two arbitrarily-shaped stable states. Quantitative and qualitative experiments, featuring prototypes with distinct engineering design details, complement the theory and shine light on the strengths and limitations of our design approach. These results show how to design bistable metamaterials from non-bistable templates, paving the way for further discovery of bistable systems and structures that are not simply arrangements of known bistable units.

Periodic origami patterns made with repeating unit cells of creases and panels bend and twist in complex ways. In principle, such soft modes of deformation admit a simplified asymptotic description in the limit of a large number of cells. Starting from a bar and hinge model for the elastic energy of a generic four parallelogram panel origami pattern, we derive a complete set of geometric compatibility conditions identifying the pattern's soft modes in this limit. The compatibility equations form a system of partial differential equations constraining the actuation of the origami's creases (a scalar angle field) and the relative rotations of its unit cells (a pair of skew tensor fields). We show that every solution of the compatibility equations is the limit of a sequence of soft modes -- origami deformations with finite bending energy and negligible stretching. Using these sequences, we derive a plate-like theory for parallelogram origami patterns with an explicit coarse-grained quadratic energy depending on the gradient of the crease-actuation and the relative rotations of the cells. Finally, we illustrate our theory in the context of two well-known origami designs: the Miura and Eggbox patterns. Though these patterns are distinguished in their anticlastic and synclastic bending responses, they show a universal twisting response. General soft modes captured by our theory involve a rich nonlinear interplay between actuation, bending and twisting, determined by the underlying crease geometry., Comment: minor improvements to exposition

Kirigami metamaterials dramatically change their shape through a coordinated motion of nearly rigid panels and flexible slits. Here, we study a model system for mechanism-based planar kirigami featuring periodic patterns of quadrilateral panels and rhombi slits, with the goal of predicting their engineering scale response to a broad range of loads. We develop a generalized continuum model based on the kirigami's effective (cell-averaged) nonlinear deformation, along with its slit actuation and gradients thereof. The model accounts for three sources of elasticity: a strong preference for the effective fields to match those of a local mechanism, inter-panel stresses arising from gradients in slit actuation, and distributed hinge bending. We provide a finite-element formulation of this model and implement it using the commercial software Abaqus. Simulations of the model agree quantitatively with experiments across designs and loading conditions.

Mechanical metamaterials exhibit exotic properties at the system level, that emerge from the interactions of many nearly rigid building blocks. Determining these emergent properties theoretically has remained an open challenge outside of a few select examples. Here, for a large class of periodic and planar kirigami, we provide a coarse-graining rule linking the design of the panels and slits to the kirigami's macroscale deformations. The procedure gives a system of nonlinear partial differential equations (PDE) expressing geometric compatibility of angle functions related to the motion of individual slits. Leveraging known solutions of the PDE, we present excellent agreement between simulations and experiments across kirigami designs. The results reveal a surprising nonlinear wave-type response persisting even at large boundary loads, the existence of which is determined completely by the Poisson's ratio of the unit cell., Comment: 5 pages, 4 Figures and a supplement

Origami, the ancient art of folding thin sheets, has attracted increasing attention for its practical value in diverse fields: architectural design, therapeutics, deployable space structures, medical stent design, antenna design and robotics. In this survey article we highlight its suggestive value for the design of materials. At continuum level the rules for constructing origami have direct analogs in the analysis of the microstructure of materials. At atomistic level the structure of crystals, nanostructures, viruses and quasicrystals all link to simplified methods of constructing origami. Underlying these linkages are basic physical scaling laws, the role of isometries, and the simplifying role of group theory. Non-discrete isometry groups suggest an unexpected framework for the possible design of novel materials., Comment: 25 pages, 8 figures

Shape-morphing finds widespread utility, from the deployment of small stents and large solar sails to actuation and propulsion in soft robotics. Origami structures provide a template for shape-morphing, but rules for designing and folding the structures are challenging to integrate into broad and versatile design tools. Here, we develop a sequential two-stage optimization framework to approximate a general surface by a deployable origami structure. The optimization is performed over the space of all possible rigidly and flat-foldable quadrilateral mesh origami. So, the origami structures produced by our framework come with desirable engineering properties: they can be easily manufactured on a flat reference sheet, deployed to their target state by a controlled folding motion, then to a compact folded state in applications involving storage and portability. The attainable surfaces demonstrated include those with modest but diverse curvatures and unprecedented ones with sharp ridges. The framework provides not only a tool to design various deployable and retractable surfaces in engineering and architecture, but also a route to optimizing other properties and functionality., Comment: 45 pages, 11 figures

Rigidly and flat-foldable quadrilateral mesh origami is the class of quadrilateral mesh crease patterns with one fundamental property: the patterns can be folded from flat to fully-folded flat by a continuous one-parameter family of piecewise affine deformations that do not stretch or bend the mesh-panels. In this work, we explicitly characterize the designs and deformations of all possible rigidly and flat-foldable quadrilateral mesh origami. Our key idea is a rigidity theorem (Theorem 3.1) that characterizes compatible crease patterns surrounding a single panel and enables us to march from panel to panel to compute the pattern and its corresponding deformations explicitly. The marching procedure is computationally efficient. So we use it to formulate the inverse problem: to design a crease pattern to achieve a targeted shape along the path of its rigidly and flat-foldable motion. The initial results on the inverse problem are promising and suggest a broadly useful engineering design strategy for shape-morphing with origami.

We characterize the phase-space of all Helical Miura Origami. These structures are obtained by taking a partially folded Miura parallelogram as the unit cell, applying a generic helical or rod group to the cell, and characterizing all the parameters that lead to a globally compatible origami structure. When such compatibility is achieved, the result is cylindrical-type origami that can be manufactured from a suitably designed flat tessellation and "rolled-up" by a rigidly foldable motion into a cylinder. We find that the closed Helical Miura Origami are generically rigid to deformations that preserve cylindrical symmetry, but multistable. We are inspired by the ways atomic structures deform [1] to develop two broad strategies for reconfigurability: motion by slip, which involves relaxing the closure condition; and motion by phase transformation, which exploits multistability. Taken together, these results provide a comprehensive description of the phase-space of cylindrical origami, as well as quantitative design guidance for their use as actuators or metamaterials that exploit twist, axial extension, radial expansion, and symmetry., Comment: 12 pages, 7 figures

We systematically study phase transformations from one helical structure to another. Motivated in part by recent work that relates the presence of compatible interfaces with properties such as the hysteresis and reversibility of a phase transformation [35, 33, 12, 28], we give necessary and sufficient conditions on the structural parameters of two helical phases such that they are compatible. We show that, locally, four types of compatible interface are possible: vertical, horizontal, helical and elliptical. We discuss the mobility of these interfaces and give examples of systems of interfaces that are mobile and could be used to fully transform a helical structure from one phase to another. These results provide a basis for the tuning of helical structural parameters so as to achieve compatibility of phases. In the case of transformations in crystals, this kind of tuning has led to materials with exceptionally low hysteresis and dramatically improved resistance to transformational fatigue. Compatible helical transformations with low hysteresis and fatigue resistance would exhibit an unusual shape memory effect involving both twist and extension, and may have potential applications as new artificial muscles and actuators., Comment: 35 pages

Nematic elastomers dramatically change their shape in response to diverse stimuli including light and heat. In this paper, we provide a systematic framework for the design of complex three dimensional shapes through the actuation of heterogeneously patterned nematic elastomer sheets. These sheets are composed of \textit{nonisometric origami} building blocks which, when appropriately linked together, can actuate into a diverse array of three dimensional faceted shapes. We demonstrate both theoretically and experimentally that: 1) the nonisometric origami building blocks actuate in the predicted manner, 2) the integration of multiple building blocks leads to complex multi-stable, yet predictable, shapes, 3) we can bias the actuation experimentally to obtain a desired complex shape amongst the multi-stable shapes. We then show that this experimentally realized functionality enables a rich possible design landscape for actuation using nematic elastomers. We highlight this landscape through theoretical examples, which utilize large arrays of these building blocks to realize a desired three dimensional origami shape. In combination, these results amount to an engineering design principle, which we hope will provide a template for the application of nematic elastomers to emerging technologies.

Nematic elastomers are rubbery solids which have liquid crystals incorporated into their polymer chains. These materials display many unusual mechanical properties, one such being the ability to form fine-scale microstructure. In this work, we explore the response of taut and appreciably stressed sheets made of nematic elastomer. Such sheets feature two potential instabilities -- the formation of fine-scale material microstructure and the formation of fine-scale wrinkles. We develop a theoretical framework to study these sheets that accounts for both instabilities, and we implement this framework numerically. Specifically, we show that these instabilities occur for distinct mesoscale stretches, and observe that microstructure is finer than wrinkles for physically relevant parameters. Therefore, we relax (i.e., implicitly but rigorously account for) the microstructure while we regularize (i.e., compute the details explicitly) the wrinkles. Using both analytical and numerical studies, we show that nematic elastomer sheets can suppress wrinkling by modifying the expected state of stress through the formation of microstructure., Comment: 37 pages

Nematic elastomers and glasses deform spontaneously when subjected to temperature changes. This property can be exploited in the design of heterogeneously patterned thin sheets that deform into a non-trivial shape when heated or cooled. In this paper, we start from a variational formulation for the entropic elastic energy of liquid crystal elastomers and we derive an effective two-dimensional metric constraint, which links the deformation and the heterogeneous director field. Our main results show that satisfying the metric constraint is both necessary and sufficient for the deformation to be an approximate minimizer of the energy. We include several examples which show that the class of deformations satisfying the metric constraint is quite rich., Comment: 54 pages

Nematic elastomers and glasses are solids that display spontaneous distortion under external stimuli. Recent advances in the synthesis of sheets with controlled heterogeneities have enabled their actuation into non-trivial shapes with unprecedented energy density. Thus, these have emerged as powerful candidates for soft actuators. To further this potential, we introduce the key metric constraint which governs shape changing actuation in these sheets. We then highlight the richness of shapes amenable to this constraint through two broad classes of examples which we term nonisometric origami and lifted surfaces. Finally, we comment on the derivation of the metric constraint, which arises from energy minimization in the interplay of stretching, bending and heterogeneity in these sheets.