Design and Simulation of Mecanum-Kresling Wheel

Origami has been used to design deployable systems by folding and unfolding along the crease lines. Because of its flexibility and foldability using non-rigid material, the Kresling origami pattern has been used in several designs. We create a rigid origami-inspired mechanism based on Kresling pattern with deployability and customizable collapsibility that produces a novel use in mecanum wheel design. This mechanism is deployable when collapsed and can be selectively collapsed by altering the twisting angle. The mechanical in the mecanum wheel provides direction shifting functionality while being highly deployable and collapsible. In this work, the ability to deploy the rigid Kresling mechanism into Mecanum wheel is designed and simulated in MATLAB and Solid Work.