Design and Application of a Bionic Origami Mechanism Based on Adjustable Bistability

The unique arrangement of panels and folds in origami structures provides distinct mechanical properties, such as the ability to achieve multiple stable states, reconfigure shapes, and adjust performance. However, combining movement and control functions into a simple yet efficient origami-based system remains a challenge. This study introduces a practical and efficient bistable origami mechanism, realized through lightweight and tailored designs in two bio-inspired applications. The mechanism is constructed from two thin materials: a PET sheet with precisely cut flexible hinges and a pre-tensioned elastic band. Its mechanical behavior is studied using nonlinear spring models. These components can be rearranged to create new bistable structures, enabling the integration of movement and partial control features. Inspired by natural systems, the mechanism is applied to two examples: a passive origami gripper that can quickly and precisely grasp moving objects in less than 100 ms, and an active magnetic-driven fish tail capable of high-speed swimming in multiple modes, reaching a maximum straight-line speed of 3.35 body lengths per second and a turning speed of 2.3 radians per second. This bistable origami mechanism highlights its potential for flexible design and high performance, offering useful insights for developing origami-based robotic systems.