A continuum mechanics approach for the deformation of non-Euclidean origami generated by piecewise constant nematic director fields

Abstract: We merge classical origami concepts with active actuation by designing origami patterns whose panels undergo prescribed metric changes. These metric changes render the system non-Euclidean, inducing non-zero Gaussian curvature at the vertices after actuation. Such patterns can be realized by programming piecewise constant director fields in liquid crystal elastomer (LCE) sheets. In this work, we address the geometric design of both compatible reference director patterns and their corresponding actuated configurations. On the reference configuration, we systematically construct director patterns that satisfy metric compatibility across interfaces. On the actuated configuration, we develop a continuum mechanics framework to analyze the kinematics of non-Euclidean origami. In particular, we fully characterize the deformation spaces of three-fold and four-fold vertices and establish analytical relationships between their deformations and the director patterns. Building on these kinematic insights, we propose two rational designs of large director patterns: one based on a quadrilateral tiling with alternating positive and negative actuated Gaussian curvature, and another combining three-fold and four-fold vertices governed by a folding angle theorem. Remarkably, both designs achieve compatibility in both the reference and actuated states. We anticipate that our geometric framework will facilitate the design of non-Euclidean/active origami structures and broaden their application in active metamaterials, soft actuators, and robotic systems.