Modular Zipping for Transformable and Dynamic Systems

Abstract

There is a need for products, machines and environments that can change shape, transform and evolve according to their use. This thesis proposes the design of a simple, modular actuator based on reversible folding and interlocking (zipping) of flexible 3D printed strips. The proposed zipper design allows for continuous control states between a compact and fully deployed state. The modular actuators can be integrated into a variety of systems to enable compact, shape- and stiffness-changing structures, robots and other devices. Designs are presented for single- and double-zipper modules using the same basic zipper design. The modules can be used as modular components of compact robotic systems with the ability to expand and contract according to their environment, or used as adjustable structural components to create deployable, shape-and stiffness-changing objects. The zipper design points the way towards simplified mono-material components that embed transformation and reversibility into everyday devices, products and spaces, and enabling objects that are as easy to transform, reconfigure and reverse as they are to manufacture.