Degrees of freedom — where it appears
Named by 26 essays across 7 fields — each of them below, with the objects they name alongside it.
Why the list stops at seven
The seven axioms are not seven useful folds somebody collected. They are every fold there is, and the proof is an exercise in counting degrees of freedom that takes about a minute.
A sheet with one freedom
A Miura-folded sheet can move in exactly one way. Pull it open in one direction and it opens in the other — a negative Poisson's ratio, arriving entirely from the crease pattern and not at all from the paper.
Panels instead of paper
Flat-foldability asks whether a pattern can reach a flat state. Rigid-foldability asks whether it can get there without any face bending on the way. The second is much stronger, and everything that gets manufactured lives inside it.
What the vertex does on the way
A four-crease vertex is a linkage on a sphere. Solving its closure gives the fold angles at every moment, and two theorems that are usually proved about the flat state turn up in the answer without being put there.
Opening with nothing to pull
A leaf is not opened by a hand, a hinge or a motor. It opens because it keeps growing — which puts a condition on the pattern that no folder ever has to satisfy, because a person can always push.
No motor in the fold
An insect's wing has muscles at its base and nothing out along its length, so the pattern has to carry the deployment by itself. The condition that makes that possible is a count: one degree of freedom means one number determines every panel, which means one thing has to pull.
The same corrugation in four places
A leaf, a wing, a crushed cylinder and a solar array arrive at nearly the same fold, and none of them copied any of the others. Convergence stories are cheap; this one is checkable, because the constraint that forces it can be computed rather than admired.
The vertex is geared
A rigid four-crease vertex has one degree of freedom, which says that one number decides everything and not how. The how is a fixed ratio: the tangents of the half fold angles at two creases stay in constant proportion for the whole of the motion, and the proportion is a function of the sector angles and nothing else.
Seven, and then twenty-two
The seven axioms are not seven useful folds somebody collected; they are the number of ways to spend a fold line's two degrees of freedom, and the count can be derived. Run the same derivation for two folds made at once and it gives twenty-two, for three fifty, for five a hundred and sixty-one — while the number of coincidences a pair of hands has to achieve in the same instant goes two, four, six, ten.
Fourth of eight, and still not chosen for it
A deployable is sold on compaction: large in use, small in transit. Measured, the pattern that actually gets built converts folding into compaction at 0.67 sheet-widths of crease per layer, which is fourth of the eight printed patterns — nearly three times worse than the Yoshimura, which nobody deploys, and nearly three times better than the hexagon twist, which nobody deploys either. The ranking does not pick out the pattern that flew from anywhere on the shelf, and that is the finding.
One cut removes one arc
A crease pattern whose letters contradict themselves has, in principle, an obvious smallest repair: cut one crease and the statement it was making goes away. Cut every crease of four tessellation patches in turn — four hundred and seventy-four cuts — and sixteen of them leave a sheet whose panels still land anywhere at all. A cut gives the paper a freedom, and a sheet with a freedom in it has no folded state to order.
The motion has no letters to choose
A flat-folding search picks a letter for every crease and can pick badly. A rigid folding does not pick anything: the fold angles are real numbers, determined by the panels through equations that have a solution or do not. Replacing a discrete choice with a continuous solve removes every ordering question at once, and introduces a failure of its own.
The rim is four letters a cell
Cut a rectangle out of a tessellation and it asks exactly the vertices the tessellation asks, exactly the same questions. What it adds is four free letters for every period of edge — the creases the cut divides, which become two independently answerable creases instead of one. Eight letters on a two-period square, sixteen on a four-period one, and nothing else about the two objects differs at all.
A mechanism that closes on itself
A rigid-foldable pattern is a mechanism: panels as rigid plates, creases as hinges, and a motion counted by degrees of freedom at each vertex. Close the sheet into a tube and the mechanism has to come back to itself after a circuit — a constraint that is not at any vertex and that the degree-of-freedom count does not see.
The census returns one
The rung below this one asked for a census: every pattern reaching a stated packing ratio while opening from a single input, with its crease density. The census is makeable for the corrugations and it comes back with one member. A corrugation piles its panels over a footprint as wide as its longest panel, so its ratio is the total length divided by that longest one — and that equals the panel count only when every panel is the same.
Twenty-two is a floor
The enumeration that gives seven single-fold axioms spends each fold line's two degrees of freedom on alignments to points and lines already on the paper, and its own account says what it leaves out — an alignment may refer to a crease being made in the same instant. Adding those back leaves the single-fold count at seven and takes the two-fold count from twenty-two to eighty-six, of which sixty-four cannot be stated in terms of the paper at all.
The fold count sets the spring
A corrugation sweeps the same span at every fold count, and the count decides only how much room the zigzag needs while it does it — which was counted as a gain with nothing pushing back. Something does push back. Every hinge is a spring, a finer corrugation has proportionally more of them, and the force to hold a given span rises exactly as the clearance falls: the product of the two is the same number whatever the count, and at each material's own best count the spring goes as one over the square of the hinge radius.
A corrugation has one resting state
A folded wing held short of shut stores energy in its hinges, and a wing that could stay both open and folded with nothing holding it would need that energy to have two bottoms. A corrugation cannot provide them: every crease in it folds by one angle, so the energy of any set of crease springs is a parabola in that angle and has exactly one resting state, however much the springs disagree. A single degree-four vertex has two branches through the flat state, and the same springs give it two resting states on almost every setting tried.
The wall is the flat sheet
A sprung degree-four vertex usually has two resting states, one on each branch of its motion, and the branches meet in one place a sheet can pass through: the flat state. So the only road from one resting state to the other crosses the flat sheet, and on every setting of the springs tried on two vertices the flat sheet is the highest point of that road. Its energy is each spring's stiffness times its rest angle squared, summed, which does not contain the vertex's sector angles at all — the same springs put on four different vertices give a wall of exactly the same height. The geometry decides only how far below the wall each state sits, and the shallower one sits a median of five per cent below it.
A chain of vertices switches all at once
One sprung degree-four vertex rests in two states, one on each branch of its motion, and switches between them only by passing through the flat sheet. Chain vertices together by sharing a crease between each and the next, and a branch can be chosen at every vertex: two, four, eight and sixteen combinations for chains of one to four. The median spring setting rests once on every combination. And every combination's curve of configurations passes through the same single point — the whole chain flat at once — and meets no other anywhere else, so every switch, even of one vertex's branch, takes the whole chain back to flat. The wall that switch climbs is every spring's flat energy added up, growing by a crease's worth for every crease, and a chain's second state sits several times further below it than a single vertex's does.
Each fold needs its own two
The enumeration that gives seven axioms spends a fold line's two degrees of freedom on alignments; run for m folds it spends 2m from one pool, and a pool can be spent three on one line and one on the other, which determines neither. Attaching every alignment to the fold it constrains repairs that, and two other things — and the two-fold count goes from twenty-two to a hundred and five, of which only twenty-eight have to be made at one instant.
A crease that does not exist yet
Simultaneous folding is usually described as a problem of dexterity — several coincidences to be achieved in the same instant. The reference graph says otherwise: of the hundred and five two-fold operations, twenty-eight need no simultaneity and forty-nine can be done in an order, leaving twenty-eight whose folds each name the other. Those are not hard to hold. They are hard to know, and a loop that guesses and re-solves finds them at eight per cent of the error a pass.
What the condition does not decide
A tree of seven leaves imposes twenty-one separations and eight of them bind. The rest are slack, the eight pin six of the seven leaves against the sheet's own edges, and the seventh can be moved half a per cent of the sheet for nothing. The requirement that looks quadratic is doing linear work, and what it leaves undecided is the part a designer is actually choosing.
Two drivers and one freedom
Two actuators on a sheet with one degree of freedom are two commands for one number, and if they disagree by a hundredth of a radian the sheet cannot satisfy both. Where it settles is decided by the gearing between the two creases: a strongly geared pair absorbs the disagreement and leaves a quarter of it standing, while a weakly geared pair keeps ninety per cent. The loosest coupling is the expensive one, which is the opposite of what coupling usually means.
A gearing reflects stiffness squared
Two actuators on a sheet with one freedom disagree, and the sheet settles where their stored energy is least. With unequal stiffnesses the answer depends on them only through k₂g² ⁄ k₁ — the second actuator, seen from the first crease, is a spring of stiffness k₂g², the gearing entering squared as a gear train reflects any stiffness. That settles which actuator to make compliant. On a rigid mesh's loosest pair a second actuator ten times stiffer than the first stores fifty times the fighting energy of one ten times softer, and softening it gives up only 8 per cent of how firmly that crease is held, because the first actuator already holds it ten times over through the gearing. On the tightest pair softening saves four times the energy and gives up 68 per cent of the hold. Compliance is cheap exactly where the fight is expensive.
Splitting a sheet buys area, not certainty
A folded deployable with one freedom needs every hinge and its one actuator, and three hundred hinges at 0.999 each open all the way 73 per cent of the time. Split the same hinges among ten separately driven modules and a stuck hinge costs only its own module: the share of the area expected to open rises to 96 per cent, and the chance of at least nine tenths of it rises to 94. The chance of all of it falls, to 67 per cent, because every freedom added is an actuator added. So freedoms, actuators and reliability trade in a definite way: one freedom is the best design only for a mission that is worthless without its whole area, and for any mission that can live with less, several freedoms win by a margin that no improvement in the hinges matches.
Named alongside it
The objects these essays reach for when they reach for this one.
Rigid foldingMultifoldAxiomsBranchConstraintConvergenceCorrugationEnumerationInsect wingsKinematicsOperation setPacking ratio