Simulation Modelling Practice and Theory 84 (2018) 251–267 Contents lists available at ScienceDirect Simulation Modelling Practice and Theory journal homepage: www.elsevier.com/locate/simpat Finite element simulation of robotic origami folding Phuong Thao Thai a,∗ , Maria Savchenko b , Ichiro Hagiwara b a Hanoi University of Science and Technology, 1 Dai Co Viet street, Hanoi, Vietnam b Meiji University, Nakano-ku, Nakano, Tokyo 164-8525, Japan a r t i c l e i n f o Article history: Received 30 September 2017 Revised 6 March 2018 Accepted 13 March 2018 Keywords: Robot design FE simulation Kinematic modelling Forming origami Folding paper Shell structure a b s t r a c t In this paper, we focus on some aspects of the finite element simulations of robotic paper folding and the reconstruction of models from the origami crease patterns by the robot arms. The paper highlights the simulation problems, which should be solved in developing our recent study in mechanical and geometrical design of the origami-performing robot. The basic premise underlying the study is that folding operations with the origami crease patterns are considered as the functions of the mechanical systems such as a robot. Ma- nipulations with the foldable objects, such as a sheet of paper (the origami crease pattern), by the robot arms in the simulation environment lead to understanding the design of the origami-performing robot without testing physical prototypes at each design stage. In this case, dynamic and kinematic behavior of the robot arms in forming the 3D origami objects is modelled by using the finite element method (FEM) in LS-DYNA solver. For simulating, two forms of origami are considered: flexible, if bending is used for paper folding, and rigid, if origami patterns are considered as the kinematic systems. Results of the simula- tion are presented and provided by the illustrations. © 2018 Elsevier B.V. All rights reserved. 1. Introduction Since origami has many advantages, its applications are now used widely in industry and everyday life. Origami starts from a two-dimensional layer and transforms to the three-dimensional structure via folding. Origami principles have broad and varied applications: from solar arrays [20] and building facades [7] to robotics [9,17], mechanisms in stent grafts [12], and DNA-sized boxes [1]. The materials and methods, which are used for fabricating, actuating, and assembling these prod- ucts, can vary greatly with a length scale. Large-scale origami structures can be constructed from the thickened panels connected by hinges and can be actuated with mechanical forces. The benefit of origami structures is their ability to sup- port weight with enough stiffness and to pack a large surface area into a compact flat shape. With developing the origami structures, the material using for folding currently is not only an ordinary paper with a small thickness 0.1 mm. Special paper materials, such as cardboard or coated paper, which thickness is bigger (1–2 mm), are used for forming origami struc- tures to increase the stiffness and still keep the lightweight structure. There are some approaches for folding the origami patterns with different thickness [6] and developing self-folding machines [9]. Hence, building a robot that can help people to fold the target origami patterns is a trend all over the world. The experimental folding machine presented by [2] includes a blade press for forming the creases and a working table. Two robot hands are used for folding paper in Elbrechter et al. [8]. The authors apply a method for real-time detection, ∗ Corresponding author. E-mail address: thao.thaiphuong@hust.edu.vn (P.T. Thai). https://doi.org/10.1016/j.simpat.2018.03.004 1569-190X/© 2018 Elsevier B.V. All rights reserved.