DIGITAL ARCHITECTURE PROJECT REPORT ARCHITECTURAL APPLICATION OF TWIST PATTERN ACTION ORIGAMI TO RENDER MOBILITY IN TRANSFORMABLE ARCHITECTURE Submitted by
Pranjali Sharma Thesis Guide : Prof. Dhanashree Sardeshpande Thesis submitted in partial fulfillment of the requirements for the degree of M.Arch ( Digital Architecture )
SEMESTER lV, Second Year M.Arch ( Digital Architecture ) Sept, 2020
Department of Digital Architecture M.K.S.S.S’s Dr. Bhanuben Nanavati College of Architecture for women, Karve-nagar, Pune
Savitribai Phule Pune University
2019-20
Architectural application of Twist pattern Action Origami to render mobility in Transformable architecture
Pranjali Sharma
CERTIFICATE
This is to certify that student has worked under my supervision on “Architectural application of Twist pattern Action Origami to render mobility in Transformable architecture” towards the partial fulfillment of her research for Master’s program. This is her original work and can be submitted as a thesis on major area of research.
Thesis Guide : Prof. Dhanashree Sardeshpande Date : Sept, 2020
APPROVAL
Dr. B.N College of Architecture, department of Digital Architecture Masters’s Program Name of the student: Pranjali Sharma Research Topic: Architectural application of Twist pattern Action Origami to render mobility in Transformable architecture The following study is hereby approved as a creditable work on the subject, carried out and presented in a manner, sufficiently satisfactory to warrant its acceptance as a prerequisite to the Master’s Program for which it has been submitted. It is to be understood that by this approval the undersigned do not necessarily endorse or approve the statements made, opinions expressed or conclusions drawn therein, but approve the study only for the purpose for which it has been submitted and satisfies as to requirement laid down in the academic program. This is to certify that the student has worked under my supervision on the topic towards the partial fulfillment of her research for Master’s Program. This is her Original work and can be submitted as a Digital architecture Project . The copyright of this work remains jointly with BNCA, Guide/ Co-ordinator and the student, whenever and/ wherever presented and/or published. The above said work shall not be presented or published without written permission from BNCA and the guide/ coordinator.
Pranjali Sharma Student
Prof. Dhanashree Sardeshpande Thesis Guide
Date : Sept, 2020
Date : Sept, 2020
Prof. Dhanashree Sardeshpande HOD/Coordinator Masters in Digital Architecture Department
STATEMENT OF ORIGINALITY Program : M.Arch Digital Architecture ( 2018 - 2020 ) Thesis Guide : Prof. Ar. Dhanashree Sardeshpande Titled : Architectural application of Twist pattern Action Origami to render mobility in Transformable architecture
Declaration This work has not been previously submitted for a degree or diploma in any university. To the best of my knowledge and belief, this thesis on Minor/Major contains no material previously published or written by any other person except where due reference is made in the report itself. I have given due credit to the sources and have acknowledged them appropriately.
Name : Pranjali Sharma Date : Sept, 2020
Acknowledgment
I would like to express my sincere gratitude to my advisor Prof. Dhanashree Sardeshpande for the continuous support of my Masters study and related research, for his motivation, and immense knowledge. His guidance helped me in all the time of research and writing of this thesis. Besides my advisor, I would like to thank the rest of my thesis committee Prof. Deva Prasad, Prof Swapnil Gawande, Ar. Poonam Sardesai, Ar. Supriya Dhamale for their insightful comments and encouragement, but also for the hard question which incented me to widen my research from various perspectives. Also my sincere thanks also goes to FabLab Assistant Yogesh Kulkarni and Ramesh Kandhare who gave access to the laboratory and research facilities and their valuable assistance. Finally I am immensely grateful to all the BNCA staff, my classmates, my family and everyone who assisted me throughout this project.
Contents
1. Introduction 12 2. Architecture Discourse in Transformability 19 3. How can rigid origami bring Transformability in Architecture? 26 4. Origami 29 5. Rigid Origami 30 6. Origami Kinematics 34 7. Thickness Accommodation Methods 41 8. Offset Panel Technique (OPT 44 9. Understanding the Parameters 49 10. Offset Distance w.r.t Thickness 52 11. Base module 58 12. Reflections 64 13. Bistability 69 14. Structural Analysis of Framed Structures 70 15. Various Positions for Testing 71 16. Load Test and Displacement 72 17. Aggregations and discrete design 82 18. Applications 94 19. Conclusion 97 20. References 98 21. Appendices 99
ABSTRACT
In Architecture, dynamism plays an important role as we ourselves are dynamic beings. The idea of bringing mobility in architecture for compaction and flexibility is explored, by understanding the role of mechanisms in Kinetic systems in architecture. Origami is an inspiration for the folding motion, further mechanisms are studied in action origami, Twist patterns are selected. To test the motion of the selected patterns various thickness accommodation methods are studied and Offset panel technique is used for fabricating the model in rigid thick material. The OPT allows for Volumetric design of panels geometry in thick rigid materials. The applications of such systems in architecture are discussed.
Key words Kinetic Architecture, Mechanism, Action Origami, Origami inspired architecture, Polygonal twist pattern, Folding, Kinematics preservation, Offset panel technique, Rigid Material
Research Questions How can we bring movement in architecture and interior space using Action origami? How can origami movements be employed to bring reconfigurability in built spaces?
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Chapter 1 Introduction The architecture around us is static and dynamic. Our life constantly goes through changes and shifts. Our lives constantly go through changes and shifts. There is a need for quick reconfigurable solutions for today urban problems. Mobility in the present time when the urban spaces are shrinking has become all the more relevant. The built environment around us can also respond to these changes through kinetic systems. Kinetic structures can be classified depending on the type of movement, the material used, and the type of kinetic building elements. Instead of designing buildings that ignore social and environmental change, a lot of designers have tried to make use of such forces by designing buildings and components that change shape or position in order to be more in tune with the surrounding environment and more responsive to fluctuating economic pressures. Folding and origami have been explored since quite some time in conjunction with architectural geometry to provide resilience or to provide mobility in architecture. It has fascinated people and now folding is also used for developing surfaces. In static conditions when origami is expressed, it is used to express developable surface, and also the architectural geometry is being reinforced by the origami patterns, allowing structural strength in 1st case and in 2nd case allowing dynamic movements in a responsive skin.
Architect tal friedman’s ‘fold finding’ pavilion
Source https://www.designboom.com/architecture/tal-friedmanorigami-fold-finding-pavilion-02-18-2016/
Al Bahr Towers in Abu Dhabi Source https://www.pinterest.dk/ pin/463870830355368920/
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Kinetic systems Kinetic systems are systems relating to or caused by motion. Kinetics will involve forces, moments/ torques, stresses, strains. For example, a kinetic wall. The door and window allow us to alter the openness for the interior spaces to make it dynamic as per our requirement. These components have been derived from engineered systems and implemented in architecture as it is. These systems have embedded kinematics in them. Kinematics is the branch of mechanics concerned with the motion of objects without reference to the forces which cause the motion. The features or properties of motion in an object. It includes concepts like distance, displacement, speed, velocity, acceleration, and how they vary over time. Usually architects do not work in these paradigms as the visual representation of before and after is very difficult to achieve. Hence, to work on kinetic systems we need the knowledge of mechanisms and mechanical engineering.
Types of motion
source: Conceptual Research of Movement in Kinetic Architecture
Kinetic Design
Structural Innovation & Material Advancements
Adaptable Architecture
Embedded Computation
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14
Types of Motion Mechanisms
Rotate
Slide
The Shed by Diller Scofidio + Renfro, Rockwell Group in NY
Source https://www.archdaily.com/914639/the-shed-a-center-for-the-artsdiller-scofidio-plus-renfro
In recent years, because of the advancements in technology it is now possible for architects to equip themselves with required knowledge to work with these systems. These kinetic systems can be implemented in interior furniture scale and large-scale architectural structures to bring mobility and compaction. The examples of small to large kinetic architecture are shown. Small scale – Dynamic Facades and Large Scale – Dynamic Buildings
The Dynamic Tower In Dubai Designed by David Fisher Source https://inhabitat.com/dubais-crazy-rotating-windpowered-skyscraper-is-actually-being-built/
Fold
The Kiefer Technic Showroom by Ernst Gieselbrecht + Partner
Source https://www.arch2o.com/dynamic-facades-the-story/
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AIM
The thesis focuses on the exploration of transformable structures deriving mechanisms from fold and applications in the built environment.
OBJECTIVE • • • • •
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To Understand how movement can be brought about by folding Investigation into origami and movement To Generate computational models for Thick rigid folding To Apply over architectural systems To Evaluate geometries in loading conditions.
Kinetic
The developed system which has movement is termed a kinetic system. Kinetics will involve forces, moments/ torques, stresses, strains, For example, a kinetic wall
Kinematic
The branch of mechanics concerned with the motion of objects without reference to the forces which cause the motion. The features or properties of motion in an object. It includes concepts like distance, displacement, speed, velocity, acceleration, and how they vary over time.
Mechanisms
A mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms are basic building blocks of kinetic systems.
Orimimetics
Adaptable architecture Kinetic architecture Responsive architecture Transformable architecture
Origami inspired mechanisms. Origami is a valuable inspiration for engineered systems. An engineered system can be created using a simple origami pattern. The mechanism is modeled as a Crease pattern. To allow motion, the mechanism’s folding lines must operate similarly to the paper pattern regardless of hinge used. buildings planned to be easily altered or modified to fit changing social functions before and after occupancy. Adaptable projects are generally residential, socially motivated, and often accomplished through movable wall systems. structures or components with either perceived or actual variable mobility, location, and/or geometry. Because the term kinetic is closely associated with aesthetic/metaphorical rationales these projects (installations, retail, and performance spaces) generally seek an aesthetic effect or simply try to capture attention.` buildings or social process of the built environment that answer to the social and/or environmental stimuli of a specific place during the design phase of a project. Responsive projects include many building types but also include works of urban planning and landscape architecture. structures that are able to rapidly take on new shapes, forms, functions, or character in a controlled manner through changes in structure, skin and/or internal surfaces connected by articulated joints. Transformable projects are generally structural applications less focused on aesthetic effect than on improving the functional requirements of the project (i.e. keeping the rain out or letting the sun in for various sporting competitions) and are often open-air projects such as retractable roof stadiums and pavilions. 17
Chapter 2 TRANSFORMABLE & MODULAR ARCHITECTURE
Modular Architecture
2
Transformable Architecture
1
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Architecture Discourse in Transformability The goal of accommodating change in architecture is not a new phenomenon. Since prehistoric times humankind has continually reshaped our buildings to suit changing needs. Archigram, the Metabolists, Utopie being some of the Modern examples of such attempts at architecture.
The “Plug-in City” by Peter Cook. This provocative project suggests a hypothetical fantasy city, containing modular residential units that “plug in” to a central infrastructural mega machine. The Plug-in City is in fact not a city, but a constantly evolving megastructure that incorporates residences, transportation and other essential services--all movable by giant cranes. Japanese architect Kisho Kurokawa designed in 1960 the “Agricultural City”. Intended for the replacement of the agricultural towns in Aichi destroyed by the Ise Bay Typhoon in 1959, the accommodation was to be raised above the ground to deal with future Flooding. The grid was intended to be between 300 and 500 meters https://archeyes.com/tag/metabolism-architecture/
https://www.archdaily.com/399329/ad-classics-the-plug-in-city-petercook-archigram
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Transformable Architecture In this research, the reconfigurability in architecture is explored through action origami and rigid origami, which involves hinges and panels. Hence, in arhictecture the use of reconfigurability can be easily visualised in modular format, where each living unit is one or combination of modules. The use of these structures is more flexible and therefore require the design of panels (volume attached to panels) to be light and compact. So we will consider cuboidal volumes and rectangular modules for the design.
Pod/Modular Architecture Modular architecture it refers to the design of any system composed of separate components that can be connected together. The beauty of modular architecture is that you can replace or add any one component (module) without affecting the rest of the system. Pod extensions to provide versatile structures at a fraction of the cost and timescale of a traditionally procured build project.
A multistory prefab system that is infinitely expandable, the Metabolist-inspired Plugin Tower is comprised of a steel space frame, a kit of parts that can be assembled. Source :https://www.archdaily.com/800511/plugin-tower-peoples-architecture-office http://www.mosspods.com/extension-pods/
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GZ Community Center
Modular triangular modules form Precht's Farmhouse that connects architecture with agriculture A model of the Katsura Imperial Villa by Timothy M. Ciccone.
Penda designs modular wooden "village" for Beijing Horticultural Expo Architecture studio Penda plans to create a vast network of modular building blocks at the International Horticultural Expo 2019 in Beijing, forming a 30,000-square-metre exhibition space. Penda architects Chris Precht and Dayong Sun plan to build on their experience with modular construction to create the exhibition space for Chinese property developer Vanke. Source: https://www.precht.at/the-farmhouse https://www.dezeen.com/2017/01/19/penda-thousand-yards-pavilion-modular-wooden-village-beijing-horticultural-expo/
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Pod/Modular Architecture
Prefab Folding Pod by Hariri and Hariri Architecture Designed with hinge and folded panels. In its flat-folded configuration the lightweight pod fits in a truck. http://www.haririandhariri.com/read-more-prefab-modular-pod
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Case Study Wallbots: user responsive robotic walls by Otto Ng(2010) Intelligent Agent System to reconfigure the spatial boundaries and programmatic organization in real time. Computerizing the walls for novel space autonomy. Otto Ng has designed and developed Wallbots, a responsive partition system that can move, resize, attach, and detach to create different sized spaces and accommodate different functions. The technology is beyond user controlled; it is user responsive.
Attaching the wall shell to a Wallbot prototype. (Ng)
Functions: • The Wallbots use wheels to move around so there are no ceiling or floor tracks and no attachments to existing structure. • The system collects real-time information like temperature, light, and time, and also analyzes the routine and behavior of inhabitants, including their social network profile. • The moving walls then adjust in width (from 1 meter to 1.5 meters) by stretching or compressing the folded, origami-like skin and mechanical skeleton. 23
https://www.zdnet.com/article/wallbots-user-responsive-robotic-walls/
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INFERENCE The Wallbots are a reconfigurable interior partitioning system which reorganizes itself according to the spatial requirements. The system is created to interact with the ongoing activities of the space. The system uses embedded technologies for actuation and origami fold for mechanisms. This example is very apt to study because of the use of fold to bring movement. The use of embedded technology helps in bringing the required motion as when needed, but it also makes it complex to use and understand for someone who is not well-versed with the machinery. The use of motors and actuators also makes it costly and hard to repair. Also, the material thickness has not been considered here, hence fully folded flat configuration is difficult to achieve. The use of kinematic systems induces the motion mechanically even by hand and eliminates the requirement of embedded technology. These systems also work with embedded technology but doesn’t necessarily depend on it. So, it becomes easier for the users. In this research, these systems have been tested with and without embedded technology and architectural components are designed to perform as kinetic systems.
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How can rigid origami bring Transformability in Architecture? Both architects and origami artists can see the potential relationships between respective disciplines. This is very much so when considering that both heavily involve the building of forms with practical constraints while using well-defined geometry. In the past century, lot of researchers have concentrated on potential of origami as a medium to induce movements and compaction. In Architectural built environment, the most basic and important requirement is structural stability. The mechanism and its materials need to incorporate all the required parameters for loads imposed on structure and it still working with its mechanism. In this research, the ability of folding mechanisms to provide reconfigurability in large scale context that is the spaces that are habitable or smaller scale kinetic components that can be used in interior spaces will be tested. The understanding of origami, action origami and its fabrication techniques plays a vital role. Most forms of architecture are made up of rigid structures using built up layers of materials, while most origami assumes zero-thickness for design purposes. Thus, much folding in architecture has mainly occurred with tent-like pliable membranes stretched across collapsible structural frames, or with simple parallel corrugated patterns. But rigid folding can begin to bring these disciplines closer together because it, as stated by Tachi, can realize a deployment mechanism using stiff panels and hinges, which has advantages for various engineering purposes, especially for designs of kinetic architecture. On the other hand, the methods to do this have many complications. Such complications involve analyzing Crease Patterns (CP) (from flat-foldable, to rigid, to rigid thick) and adjusting CPs, including some edge and vertex conditions, and simulations. In architecture, the application of origami is rare because of these limitations. Because of recent developments in the field of Mechanical engineering and Compliant Mechanism Research, the technology of thick folding can be adapted to use for architects and designers in their projects easier than before. The availability of the most recent developments and research in this direction makes this study possible. The capability to adapt the technology in parametric design process also is required. Hence, this study is an attempt to find a design process that involves the technology and helps designers further explore action origami in architecture. 26
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Chapter 3 ORIGAMI & MECHANISM
Rigid Origami
2 Origami
1
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Thickness Accomodation Methods
Flat Foldable Origami
4 Role of Material
3
6 Origami Kinematics
5
Offset Panel Technique(OPT)
7
Origami
, which is often associated with Japanese culture. Origami has simple fabrication methods, infinite possibilities, and predictability provide it potential to emerge as a source of inspiration for many innovative designs. The depiction of folds is in blue/red color depending on its direction of bend after fold, and is called Mountain and Valley.
Mountain
Valley https://www.researchgate.net/figure/A-crease-can-be-folded-aseither-a-mountain-fold-left-or-a-valley-fold-right_fig4_220104082
Origami Tessellations
CLASSIC Red Flower Tessellation designed & folded by Ilan Garibi
CORRUGATION Diamond Corrugation Tessellation designed & folded by Ilan Garibi
Organic Recursive ‘Wave’ Tessellation folded ‘Hydrangea’ Tessellation designed & folded by Shuzo by Robin Sholz Fujimoto 29
Rigid Origami
The material intervention is as important as the mechanism itself. It heavily influences the design and conceptualization of folding structures. According to Tomohiro Tachi, a renowned researcher in rigid foldable origami, Rigid-foldable origami, or rigid origami, is a piecewise linear developable surface that can realize a deployment mechanism if its facets and foldlines are substituted with rigid panels and hinges, respectively. Designing such a deployment mechanism has a significant meaning in an engineering context, particularly in architecture in the following reasons: 1. The structure based on a watertight surface is suitable for constructing an envelope of a space, a roof, or a facade. 2. Purely geometric mechanism that does not rely on the elasticity of materials can realize robust kinetic structure in a larger scale under gravity. 3. The transformation of the configuration is controlled by smaller number of degrees of freedom. This enables a semi-automatic deployment of the structure.
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https://www.researchgate.net/figure/Rigid-folding-simulation_ fig4_267490799
Role of material in Reconfigurability
The idea of permanence and impermanence in the building industry is controlled by the use of material. Concrete is one of the most permanent building material in the industry, mostly cast-in-situ, the degree of flexibility is completely eliminated. The materials used for more flexible structures are mostly engineered materials or a combination of light wieght metal and wood. In this research, the focus is on rigid origami and hence the materials used with be rigid materials, that is, materials that are light wieght but rigid. The materials consideration Difference betweenin Elastic, Plastic and Rigid are: materials • Basic Rigid Materials (Steel, Carbon Steel, Cast Iron) and their Youngs Modulus Concepts, Difference Between & density • Lightweight Materials (CFRP, Drywall, Lightweight Concrete, Cardboard)
RIGID MATERIALS
These are the material which does not undergo deformation (Strain) whatever the amount of stress is applied. It is assumed to be a continuous mass and does not exist in reality. Rigidity is measured by. Young’s Modulus (E) = Stress / Strain.
Difference between Elastic, Plastic and Rigid materials S.NO
ELASTIC MATERIAL PLASTIC MATERIAL
RIGID MATERIAL
On Applying Load
On Applying Load
On Applying Load
Undergoes Deformation
Undergoes Deformation
Does not deform.
On removal of Load
On removal of Load
On removal of Load
2
Comes back to its original size and shape
Does Not come back to its original shape and size
Shape and size remains unchanged.
3
Deformation is Temporary Deformation is permanent
1
No deformation.
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Material with high youngs modulus are rigid.
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Flat Foldable Origami Flat foldability and rigid origami go hand in hand. They are dependent on each other. Flat foldability is an origami concept in which all folds on a CP have been folded 180 degrees, the model undergoes no collisions, and rests completely flat.
Folding as Spherical mechanisms https://www.sciencedirect.com/science/article/abs/pii/ S0094114X14000445
IMPORTANCE
The importance of this concept in architecture and design is seen when compaction and transformability is required. In this research we are exploring how motion brought about by fold mechanism can be applied in arhitecture and hence transformability and compaction are two major factors that allow us to do that. We can easily see the possibilities of modular units folding to compaction. Flex chair https://benjenkinsdesigninnovation.weebly.com/modern-chairs--materials.html
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Origami Kinematics Action origami models have been created by various origami artists. The greatest number are found in books by Robert Lang. These works have been the primary sources of origami models for this research. Obtaining a mathematical model for the motion of an origami model is an important first step in the design of an origami-inspired product. While obtaining a desired motion by prototyping is very possible, it can be time-consuming. The importance of understanding the geometry involved in crease pattern and the motion it creates cannot be disregarded. It is the source of motion of folding. So, for this the study of patterns by Wilcox is analyzed for architectural application. Having a robust math model can allow the use of kinematic tools for path, motion, and function generation as well as optimization. These tools have the potential to both decrease time spent in design as well as increase performance. (Bowen, 2013) Origami can be split into static and action origami models. Static origami consists of models that exhibit no motion once folded. While such models can be complex and visually stunning, it is difficult to translate their design into use in mechanisms. (Wilcox, 2014) Most of the architectural examples of Origami-inspired-structures are static. That’s why there is a need to look towards mechanical engineering where mechanisms are studied as rigid bodies. Their motion is analyzed in Kinematic simulation. Architects do not have the required tools and knowledge to implement these systems in a generic way. Thays why most of our reality in built environments is static or costly dynamic. Some potential applications for origami-based mechanisms are beyond current capabilities due to the limitations inherent in the materials from which they are constructed as well as those imposed by the hinges being used. The ability to produce fully compliant, origami-based mechanisms in materials with greater strength, corrosion resistance, etc. and with greater hinge performance
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Utilizing the knowledge that much of action origami is composed of spherical mechanisms allows the use of traditional kinematic equations for understanding the behavior of these systems. Every origami vertex is a spherical change point mechanism whose links sum to 360. These crease patterns are different from mainstream patterns because they can fold flat and also induce motion, which can even take loads. In architecture, the folds that are used are mostly open chains and linear chains (figure 3). This research looks towards the network/looped patterns, also known as The Twist Patterns. The twist patterns are complex because of the stacking of the panels. A greater number of folds are involved. The compaction achieved is also maximum in twist pattern. Hence, in this research twist patterns are explored for application in architecture.
Actuation in Action Origami Action origami represents an area of compact, deployable mechanisms with motion in the deployed state. Utilizing the knowledge that much of action origami is composed of spherical mechanisms allows the use of traditional kinematic equations for understanding the behavior of these systems. Every origami vertex is a spherical change point mechanism whose links sum to 360. (Bowen, 2013) The Crease pattern used for these mechanisms in origami are Fundamental Geometric patterns and these motions are called Fundamental Origami Motions. The types are as under: • • • • • • • •
Single Coupled N-long Linear Chain Tree Single Loop 1D Periodic 2D Periodic Non-periodic 35
TREE
N-LONG LINEAR CHIN
COUPLED
SINGLE
GRAPH
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3D MODEL
ORIGAMI
ACTUATION (INPUT OUTPUT FORCES)
3D MODEL
ORIGAMI
ACTUATION (INPUT OUTPUT FORCES)
NON PERIODIC
2D PERIODIC
1D PERIODIC
SINGLE LOOP
GRAPH
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Variations of square twist patterns The creases of the square unit are determined by the crease directions of the folds meeting the edges of the unit; there are only 2 possible cases - these folds (short and long lines respectively) can be (a) mountain and valley or (b) valley and mountain. Variations of square twist pattern folded by changing M-V assignments. H. A. Verill (2019)
Translations and Reflections of ‘Cascade’ pattern (Verrill, 2019)
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Variations of square twist patterns
To check the configuration of open and close model, simultaneously these patterns were hand folded as well. The phycal folding is done with the help of a paper. The model is used for numbering and indexing of panels in next step. 39
Variations of square twist patterns Square Twist
Square Weave
Brick Wall
Cascade
Brick/Weave
Half Square
(Verrill, 2019)
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Thickness Accommodation Methods Rigid-panel origami is often mathematically modeled with idealized zero-thickness panels. When paper is used to realize an origami design, the zero-thickness models are a good approximation. However, many origami-inspired designs require the use of thicker materials that likely will not behave as the zero-thickness kinematic models predict. (BRYCE J. EDMONDSON, 2015) The technology of accommodating thickness allows us to expand the applications in architecture because the built environment has to take large number of loads and go through environmental catastrophes on a daily basis. Paper thick models do give an idea of the shape and form of the model and also helps to understand how to bring motion into a structure. But at the same time the thickness of the paper compared to the building materials is nothing and hence cannot be directly translated onto thick materials.
The technology of accommodating thickness allows us to expand the applications in architecture because the built environment has to take large number of loads and go through environmental catastrophes on a daily basis. Paper thick models do give an idea of the shape and form of the model and also helps to understand how to bring motion into a structure. But at the same time the thickness of the paper compared to the building materials is nothing and hence cannot be directly translated onto thick materials. Offset Panel Technique (OPT) In rigid origami, panels (facets) can be treated as links and folds as joints. Origami mechanisms can be treated as zero-thickness spherical mechanisms, which are mechanisms whose links and joints all lie in a plane in at least one position and whose links are idealized with zero-thickness. In the offset panel technique, the source 1 The Zero-thickness model describes the fundamental kinematic behavior. 2
The Axis-shift method as demonstrated by Tachi in 2011. The axis-shift alters the kinematics but can be folded fully compact
3
The Membrane folds method by Zirbel (2013) mounts thick-material facets to a flexible membrane. The membrane folds method alters the kinematics but can be folded fully compact.
4
The Tapered panels method with limited range of motion by Tachi in 2011
5
The Offset crease technique, described by Abel in 2015
6
The Offset Panel Technique (OPT) developed by Edmondson in 2014. It offsets each panel from a selected joint plane and extends the rotational axes back to the joint plane.
model's panels are shaped and thickened while maintaining the zero-thickness spherical mechanisms' joint relationships. 41 One of the major advantages of the OPT is that it maintains both the kinematic
Thickness Accommodation Methods
42
Kinematics Preservation Kinematics preserved indicates if the kinematics of the base origami model (a zero-thickness model) is preserved with the method. While matching kinematics may not be important for some applications, in many cases it will be essential to achieve the same degrees of freedom, the consistency, or the predictability of a motion identical to the origami model. Range of Motion (ROM) preserved indicates whether or not the range of motion, from fully folded to fully deployed, is preserved. Many methods do not allow for full range of motion due to clashes of panels/edges. In some applications full motion may not be required, but in many there is a need for the folds to move through the full 180◦.
43
Offset Panel Technique (OPT
Design Considerations in the Development and Actuation of Origami-Based Mechanisms Eric W. Wilcox (Lang & Morgan, 2016)
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In rigid origami, panels (facets) can be treated as links and folds as joints. Origami mechanisms can be treated as zero-thickness spherical mechanisms, which are mechanisms whose links and joints all lie in a plane in at least one position and whose links are idealized with zero-thickness. In the offset panel technique, the source model’s panels are shaped and thickened while maintaining the zero-thickness spherical mechanisms’ joint relationships. One of the major advantages of the OPT is that it maintains both the kinematic behavior and the full 180 of motion as demonstrated by Edmondson et al. (2014). The former permits designers to take advantage of the mathematical models already developed while the latter allows for fully opened and closed models. The OPT also allows for flexibility in a design. Since an origami-inspired design is constrained by only the preservation of the location of the axes and self-intersection, attributes such as varied panel thickness, spacing between panels, and selectable joint plane placement are all possible with the OPT. The technique can provide designers with flexibility as it accommodates uniform and varying panel thickness, gaps between panels, and freedom in joint plane placement.
Offset Panel Technique (OPT In this method, the panels are indexed wrt the joint plane and the direction of the offset depends on the folding axis. Below are the offset directions that are used with correspondent panel cobination.
-n
m 1
0
-1 -m
n
(Lang & Morgan, 2016)
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Offset Panel Technique (OPT The key concept of the technique is that in the fully folded state, all joints lie in a common plane even if one or both panels incident to any joint are spatially offset from that plane, which we refer to as the joint plane. This requirement allows the thick origami mechanism’s behavior to be kinematically equivalent to the zero-thickness origami source model. In the past, architects have used origami to induce motion in kinetic systems. Several techniques have been developed to accommodate thick materials shown in figure below. Each method has its own strength and weakness. (Lang & Morgan, 2016) The process involves the engineering of fold. In the pasr it was made possible through the use of less advanced thickness accommodation methods. These methods could be used on Single, coupled and linear chains but Network Loop patterns are very complex (with multiple stacks) to test for thick materials. But OPT allows user to test any pattern without compromise in its folding motion. Design Considerations in the Development and Actuation of Origami-Based Mechanisms Eric W. Wilcox (Lang & Morgan, 2016)
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Offset Panel Technique (OPT Until now the OPT method was not explored by engineers and hence was not easy to use and understand by architects. But in recent years, Compliant Mechanisms Research Dept. in Brigham Young University has extensively worked on these methods of thickness accommodation and has made it easy for architects and designers to use it in structures. The technique is very exclusive, and only some applications can be fit for it. The advantages of OPT i.e. Single DOF, unfolds flat, Kinematics preservation, Range of motion-preservation and Panel geometry are considered for application in architecture. In this research, the OPT is tested to include volumes and applications towards kinetic architecture.
Design Considerations in the Development and Actuation of Origami-Based Mechanisms Eric W. Wilcox (Lang & Morgan, 2016)
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Chapter 4 PARAMETERS
Panel Gometry
Offset Distance
2 Parameters
1
48
4 Modelled variations
3
Understanding the Parameters
MV assignments Brick weave is a pattern that is not flat foldable according to the mathematical reqirements of flat foldability hence the model needs to hand folded to fulfil the steps ahead.
49
Stacking of Panels
Brick Wall
X/4 X View of folded forms
X The Twist pattern is taken on a square base of length x units. The thickness of the panels is y units.
Top view of folded forms
Placing of the joint plane possibly in the middle
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Side view of folded forms
Cascade
Half Square
Index Numbers
2 1 -1 -2 -3
4 3 2 1 -1 -2 -3 -4 -5
5 4 3 2 1 -1 -2 -3 -4
After placing the joint axis, we number the panels according to their position in the stack. For this we place the panels in a stack where they are placed according to their position in the paper folded model.
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Offset Distance w.r.t Thickness To translate the the fold mechanism and create OPT model, we can use the open position and check its distance from joint plane and derive a relation ship, which can be obtained by changing sign of number by multiplying with negative.
Here, the translational distance 2x,3x so on are derived from the previously calculated index numbers by stacking.
Then move the panels with that distance and add offset according to OPT. 52
Joint plane 53
Cascade Pattern
-4
-2
-3
-4
-2
3
-1
1
0
0
1
0 3
-3
4
2
2
Index numbers and Translational numbers
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Offset Direction Pattern
4
Half Square Pattern
0
4
1
0
4
0
-3
3 +2
2 -2
-1 -3
3
-4
-2
-4
-2
Index numbers and Translational numbers
Offset Direction Pattern 55
Brick Weave pattern
2
-2
1
2
-2
0
-2
-1 0
0 -2
-1 1
0
2
-2
-2
Index numbers and Translational numbers
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Offset Direction Pattern
2
OPT model of different Patterns Brick Weave
Cascade
Half Square
The paramertic process was used to create the variations of thick twist model by understanding the relationship between the offset distance, index numbers and thickness. 57
Base module
58
Variations in model material thickness
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Open and Close configurations Cascade
60
Half Square
Brick Weave
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Chapter 5 REPLICATION
2D Replication
2
Base Module
1
62
3D Replication
3
Base Module The module is used as a unit for replication. To visualize architectural spaces, panel geometry was altered and made to accommodate staircase. The module can be modified to add pergolas and shades. Then together as aa unit be aggregated to into a larger structure.
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Reflections The models can be reflected in few possible ways
Horizontal Brick
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Vertical Brick
Square Twist
Anticlock Twist
Module 2d Replication
65
Possible reflection Axis To understand the reflection axis so that the kinematic model works along with the 3d replication, we see one of the modules as an example. The red dots and blue lines are points and curves that guides the plane alone which the replication will happen.
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Reflections ruled aggregation The algorithm used to stochastically aggregate the units needs the input of rules, which govern the connections of the units together. The rules given are the rules to 2d and 3d replicate the unit.
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Chapter 6 STRUCTURAL OPTIMIZATION
Testing Positions
2
Bistability
1
68
Load Tests
3
Bistability In the folded configuration, the structure is compact. In the unfolded configuration, the table is much larger and, based on the kinematics and the materials of the model, can support a significant amount of weight. Bistability means the system has two stable equilibrium states. According to the properties of mechanism chosen here, it has an inherent bi-stable behavior. In architecture, this stable behavoir can be used to bring reconfigurability in structures.
A graph of the potential energy of a bistable system; it has two local minima x1 and x2. A surface shaped like this with two “low points” can act as a bistable system https://en.wikipedia.org/wiki/Bistability
The two stable states are when the structure is open and when closed. The two states are In this research, the open configuration will be tested for stability when applied loads. For this purpose, modules will be tested as single and multiple aggregations in Karamba in Grasshopper. The displacement is the factor that will be judged for evey structure.
1 3
2
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Structural Analysis of Framed Structures We can also group structures based on their forms. Structures have two basic forms: • frame • shell Complex structures are often combinations of these forms. Framed Structures A frame structure uses a network, or skeleton, of materials that support each other. Frame structures can be very strong. The parts of a frame work together to resist forces. Shell Structures A shell structure has a hollow, curved shape. An egg and a bike helmet are shell structures. Shell structures are strong and rigid, but they can also be very light. Shell Structures
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Framed Structures
Various Positions for Testing There can be two ways to place the basic module. Normal and Upside down. These two positions are then replicated sideways and top.
1
2
3
4
5
6
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Load Test and Displacement
Displacement Value(cm) 129.78 Deformation 0.85
Displacement Value(cm) 205.61 Deformation 0.85
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Displacement Value(cm) 127.23 Deformation 0.87
Displacement Value(cm) 29.61 Deformation 0.85
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Displacement Value(cm) 378.60 Deformation 0.82
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Displacement Value(cm) 696.75 Deformation 0.82
Displacement Value(cm) 3.40 Deformation 0.82 The tests suggested that the structure requires one volme to be added on the cantileverd panel. The Structure was given supports and then tested again. The results show that the supported structure is quite stable and with least displacement.
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Displacement Value(cm) 131.06 Deformation 0.86
Displacement Value(cm) 120.25 Deformation 0.84 76
Displacement Value(cm) 55.63 Deformation 0.86
Displacement Value(cm) 78.52 Deformation 0.84 77
Displacement Value(cm) 177.48 Deformation 0.86
Displacement Value(cm) 167.83 Deformation 0.84 78
Load Tests Inference Few configurations were more stable than others and hence selection of a particular module (Cascade, Half-square & Brick-weave) and a particular start position is crucial. This method of replication can be applied to a larger scale. From few units to few hundred units.
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Chapter 6 AGGREGATION
3D Geometrical Constraints
2
Ground Plane Constraints
1
80
Aggregation Parts
81
Aggregations and discrete design Ground plane as aggregational constraint
Front view
Right side view
82
The aggregation is carried out by taking the ground plane(x-y plane) as the contraint. The modules start to aggregate right from the ground. The number of parts is between 25-35.
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Aggregations and discrete design
Combined Growth in Clusters
The aggregation is carried out by taking the ground plane(x-y plane) as the contraint And along with that there are also seed points scatered on the ground plane from where every aggregation starts. The modules start to aggregate right from the ground. The number of parts is between 45-55.
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No. of parts: 500
No. of parts: 200
No. of parts: 200
No. of parts: 200
No. of parts: 200 85
Chapter 6 OPTIMIZED AGGREGATION TESTS
3D Geometrical Constraints
2
Ground Plane Constraints
1
86
Optimized Aggregstions
Seed Number (0-10)
No. of Modules (45 – 65)
Displacement in cm
Aggregations with least Displacement Constraints : Ground plane
Structural optimization
Outcomes - 1830 Generations - 34
54
87
AnalysisStructural of Displacement Values optimization
Analysis of Displacement Values
Outcomes - 1830 Generations - 34
The variation of different aggregations tested with different number of parts together to give the option with ground contraint and the least displacement values. Galapagos evolutionary solver is used and large number of outcomes show lower values of Displacement.
Large no. of outcome show low values of Displacement
No. of Parts
Seed No.
55
88
Optimized Aggregstions 3D Geometry Applied as constraint Aggregation Constraints
Constraints – Geometrical Green – Boundary region Red - Restricted region 56
89
Optimized Aggregstions
Iteration 2
Seed Number (0-10)
Iteration 1
No. of Modules (45 – 65)
Iteration 0
Displacement in cm
Aggregations with least Displacement Constraints : City Centre
Outcomes - 1420 Generations - 26
Iteration 4
90
Iteration 37
Iteration 40
57
Iteration 47
Iteration 55
Iteration 348
Iteration 1368
Outcomes - 1420 Generations - 26 58
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Analysis of Displacement Values
l optimization
The variation of different aggregations tested with different number of Displacement Valuesof parts together to give the option with geometric contraint and the least displacement values. Galapagos evolutionary solver is used and large number of outcomes show lower values of Displacement. Hence, this shows that this method can be used to produce ion of Displacement Values architectural structures which are modular and transformable.
Large no. of outcome show low values of Displacement
65.0
No. of Parts 45.0
Seed No.
92
59
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Applications The Transformable nature of the structure allows for multiple functions such as contractibility and transportability. The structure can be reduced in size when force is applied, hence, can be transported in most cases. This quality is beneficial when there is a need for make-shift spaces. When the whole structure can be quickly assembled and disassembled with minimum man power. Trade Exhibitions and Live Markets We have a consistently increasing need for promoting local businesses. These business are dependent on local communities to support them, as they are hyper local in nature. These events can happen in urban spaces with high visibility. If there site is changed then the structure can be transported to the new location.
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Applications The visualization of Cascade and Brick weave patterns with Thick rigid materials metal and timber shown as a display stand in open and closed positions
95
Applications
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Conclusion The use of offset panel technique allows us to correctly implemet the mechanisms exhibitted by folding, preserving the kinematics of the model. This allows us to freely fold and unfold the structure. Additionally, add volumes and scale up the structure without compromising the mobility. These volumes can be used as spaces for habitation if in large scale or as storage if in small scale. The materials that can be used for moving panels can be made from rigid materials like cast iron and carbon steel, whereas the volumes can be made from rigid light materials like CFRP, Drywall and cardboard/Timber panels. The panels can retain their orientation while in motion. This allows the user to frequently change the configuration of the structure, which can change the current problem of reconfigurable interiors by making it user friendly. This technique can be further experimented with more flat folding pattern to make diiferent architectural kinetic systems and can be extensively used in the built environment.
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References Bowen, L. A. (2013). A Study of Action Origami as Systems of Spherical Mechanisms. Provo: Brigham Young University Scholars Archive. BRYCE J. EDMONDSON, R. J. (2015). THICK RIGIDLY FOLDABLE STRUCTURES REALIZED BY AN OFFSET PANEL TECHNIQUE. Mechanical Engineering Commons. Evans, T. A., & Lang, R. (2015). Rigidly Foldable Origami Twists. Retrieved from https://pdfs.semanticscholar.org/0099/ abe142690b34cfe2c89843f78c692702018e.pdf İLERİSOY, Z. Y., & BAŞEĞMEZ, M. P. (2018). Conceptual Research of Movement in Kinetic Architecture. Turkey: Gazi University Journal of Science. Lang, R. J., & Morgan, M. R. (2016). Towards Developing Product Applications of Thick Origami Using the Offset Panel Technique. Provo: Brigham Young University Scholars Archive. Macri, S. (2015). PRACTICAL APPLICATIONS OF RIGID THICK ORIGAMI IN KINETIC ARCHITECTURE. School of Architecture at UH, Manoa. Ng, O. (n.d.). Wallbots. Retrieved from https://www.zdnet.com/article/wallbots-user-responsive-robotic-walls/ Verrill, H. A. (2019). Variations on Square twist/Momotani Brick wall. Wilcox, E. W. (2014). Design Considerations in the Development and Actuation of Origami-Based Mechanisms. Provo: Brigham Young University Scholars Archive.
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Appendices Appendix A The parametric model of the base mechanism was created using Grasshopper, the thickness values of the Panel material are varied between 0.02 units to 1.20 units.
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Appendix B The Structural test done in Karamba. The defined materials and forces were simulated and resultant displacement was calculated.
Cross-sectional parameters
Cascade module in Steel CrossSection showing displacement.
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Appendix C The Evolutionary Solver Galapagos was used to run through different aggregation to find the one with least Displacement.
Ground plane constraint optimization
3d Geometrical optimization 101
Appendix D Architectural Renders
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104
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