Eigen-value analysis of Kresling modules: A systematic approach to designing arm-like origami structures

This study introduces a systematic framework for the geometric design of arm-like origami structures constructed from Kresling modules, leveraging comprehensive mechanical modeling and eigenvalue analysis. A generalized six-degree-of-freedom (6-DOF) truss model is developed to capture both axial and off-axis deformations of the Kresling module under quasi-static loading conditions. The model enables accurate prediction of the module’s mechanical behavior and is validated through comparison with experimental and finite element results. By performing eigenvalue analysis on the linearized governing equations, the dominant deformation modes, specifically folding and bending, are identified, and their associated stiffness characteristics are quantified. These insights are used to construct a set of dimensionless design maps that link geometric parameters to mechanical performance, guiding the selection of module configurations tailored to specific application requirements. The proposed methodology supports the efficient and scalable design of adaptive, reconfigurable arm-like structures using symmetric bistable Kresling modules, with potential applications in soft robotics, deployable devices, and flexible mechanisms.