Proceedings of the ASME 2014 International Design Engineering Technical Conferences &
Computers and Information in Engineering Conference
August 17-20, 2014, Buffalo, New York, USA
MODELLING OF THE WATERBOMB ORIGAMI PATTERN AND ITS APPLICATIONS
Jiayao Ma
Department of Engineering Science,
University of Oxford
Oxford OX1 3PJ, U.K.
jiayao.ma@eng.ox.ac.uk
ABSTRACT
The waterbomb pattern is a well-known origami pattern
and has been employed to construct foldable cylinders as stent
grafts and deformable robot wheels. It is known that the
cylinders made from the waterbomb pattern are, in general, not
rigidly foldable. This feature makes construction and numerical
simulation of those cylinders difficult because a distortion-free
initial configuration for the cylinders cannot be identified. A
geometrical analysis of the cylinders formed from the
waterbomb pattern reveals that by properly selecting pattern
geometry, there exist particular configurations at which a
cylinder of a uniform radius can be rigidly assembled out of the
pattern. In other words, the pattern can be perfectly connected
together to form a cylinder without distortion. Those particular
configurations can be used as the initial configuration of the
cylinders when they are constructed and as the starting
configuration of the cylinders in a numerical analysis.
INTRODUCTION
Origami is an ancient Japanese art of producing intricate
2D or 3D models through folding a flat sheet of paper. In its
traditional form, a piece of paper is formed into an endless
variety of shapes following a pattern design. The basic
technique of origami is folding with two types of folding
creases, known as the valley and the mountain creases. A
folding pattern is created by combining those creases in a
systematic manner. Origami has drawn considerable attention
from engineers in the design of foldable structures due to its
superior efficiency of packaging large structures into small
volumes for storage or transportation. Depending on their
mechanical behaviour, origami structures can be classified into
two types: mechanisms and deformable structures. Mechanisms
do not induce any deformation in the structural components,
∗
Address all correspondence to this author.
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IDETC/CIE 2014
DETC2014-35073
Zhong You∗
Department of Engineering Science,
University of Oxford
Oxford OX1 3PJ, U.K.
zhong.you@eng.ox.ac.uk
whereas deformable structures involve deformation of the
structural components during the deployment process.
Foldable cylinders are one type of origami objects that
fascinate many origami artists and engineers alike. Nojima [1]
filed a few patents based on his research into foldable cylinders
and cones. Tsunoda and Senbokuya [2] applied folding patterns
to the packaging of inflatable booms. In terms of detailed
deployment strain analysis, the most relevant work was done by
Guest [3-5] on cylinders with helical folding patterns and
Sogame and Furuya [6] who proposed a type of star shaped
cylinders that deployed in both the axial and radial directions.
You and Cole [7] carried out a geometrical analysis on cylinders
with symmetrical crease patterns and proposed a number of
bistable booms that involved little strain energy variation during
deployment.
This paper focuses on the waterbomb pattern, also known
as the pineapple folding pattern using triangular units [8], which
is a basic origami pattern made from a square sheet of paper
with six creases, four valley creases and two mountain ones.
The pattern and its variations can form long foldable cylinders
by placing it repeatedly in the longitudinal and circumferential
directions. These cylinders have been used as stent graft [9] and
deformable robot wheel [10] recently.
There has been a common belief that cylinders made from
the waterbomb pattern are, in general, not rigidly foldable [11].
Here “rigidly foldable” means that no material deformation
except for bending of folding creases is incurred in the
cylinders during the folding and deployment process. Hence,
they have to be treated as deformable structures when modelling
the expansion and retraction of the cylinders. This feature,
however, makes setting up numerical simulation of such
cylinders impossible because a distortion-free initial
configuration for the cylinders cannot be identified. As a result,
 (a) (b)

Figure 1 (a) A BASIC UNIT OF THE WATERBOMB PATTERN, AND (b) COMBINATION OF THE BASIC UNITS.

material deformation has to be considered in the building of By repeating the basic unit in Fig. 1(a) in the vertical and
cylinder models out of the pattern, which is not trivial in spite horizontal directions, a pattern shown in Fig. 1(b) can be
of the existence of various powerful numerical structural formed. Note that the basic units in adjacent layers are shifted
modelling tools such as ABAQUS. To overcome this difficulty, by half a unit from each other, highlighted by the red bold lines
we have conducted a geometrical analysis of the cylinders in Fig. 1(b). The total numbers of the basic units in the vertical
formed from the waterbomb pattern and found that if a suitable and horizontal directions are denoted as m and n, respectively.
geometry of the pattern is selected, there exist particular If a piece of paper is folded following the pattern in Fig. 1(b)
configurations for cylinders made from the pattern, at which and the two vertical edges are joined together, a cylinder as
those cylinders can be rigidly assembled out of the pattern and shown in Fig. 2 can be formed.
have a uniform radius. In other words, the pattern can be
perfectly connected together to form a cylinder without
distortion. The significance of those particular configurations is
that they can be used as the initial configuration of the cylinders
when they are constructed and as the initial configuration of
cylinders in a numerical simulation. Furthermore, we have also
discovered that, contrary to the common belief, certain
cylinders made from the waterbomb pattern are actually
mechanisms within a limited range, i.e., they can alter their
shape in a manner that is deformation–free. It is important to
note that the analysis presented in this paper is purely
geometrical and material thickness is not considered.
The layout of the paper is as follows. A description of the
waterbomb pattern and its basic unit is presented in details in
Section 2. Following in Section 3 the geometry of cylinders
made from the pattern are analyzed and the conditions for a
cylinder of a uniform radius to be rigidly assembled without
distortion are established. A folding path through which such a
cylinder can be folded rigidly out of a sheet of material is
described in Section 4. Then in Section 5 the deformation-free
motions of certain cylinders from a rigidly assembled Figure 2 A CYLINDER MADE FROM WATERBOMB PATTERN.
configuration is presented. Finally is the conclusion in Section 6
which ends the paper.
Four independent parameters define the pattern, i.e., width
GEOMETRY OF THE WATERBOMB PATTERN and length of the basic unit 2a and 2b, and the number of basic
A basic waterbomb pattern is presented in Fig. 1, in which units in the longitudinal (vertical) direction m and
the solid and dashed lines represent mountain and valley circumferential (horizontal) direction n. If we assume that when
creases, respectively. The pattern comprises of four diagonal a cylinder is assembled out of the pattern, each basic unit in one
valley creases and two co-linear mountain ones which meet at circumferential layer of the cylinder is folded to an identical
one vertex, forming symmetry both vertically and horizontally. final configuration, a circular cylinder would be obtained, and

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 (a) (b)

Figure 3 TWO BASIC UNITS OF THE WATERBOMB PATTERN IN THE (A) DEVELOPED, AND (B) FOLDED CONFIGURATIONS.

the pattern can be represented by one strip in the longitudinal

direction as highlighted by green bold lines in Fig. 1(b). CONDITIONS FOR A CYLINDER OF A UNIFORM
Consider only two layers in one strip as shown in Fig. 3(a). RADIUS
When they are folded to form a portion of a cylinder as shown For a cylinder of a uniform radius to be assembled out the
in Fig. 3(b), the radius r and the central angle corresponding to pattern rigidly, each layer of the cylinder should form an
the portion 2ψ can be worked out geometrically, identical radius. It has been mentioned that the basic units in
adjacent layers are shifted by half a unit from each other, and
sin θ accordingly point A in the upper layer is the counterpart of point
r= a, (1)
sinψ F in the lower layer. Therefore the condition of each layer of the
cylinder forming an identical radius, i.e., of assembling a
cylinder of a uniform radius rigidly out of the pattern, is
π
ψ = , (2) ρA = ρF , (5)
n

in which θ is half of the dihedral angle. Moreover, the following i.e.,

geometrical constraints apply
2k 2 cos θ sin θ cosψ sin θ
− cos θ + = . (6)
n ≥ 3 2
k + cos θ2
sinψ sinψ

 π. (3)
ψ ≤ θ ≤ 2 Rearranging Eq. (6) leads to

With the parameters defined above, the coordinates of A, ck 2 tan 3 θ + k 2 tan 2 θ + c(k 2 + 1) tan θ + ( k 2 − 1) = 0 , (7)
C, D, E, and G in the cylindrical coordinate system (ρ, φ, z) can
be easily obtained, see Table 1. Then using lBA = a , lBD = b and in which
pattern symmetry, the coordinates of B and F can also be ψ π
obtained as shown in Table 1, in which c = − tan = − tan . (8)
2 2n
k =b/a. (4)
Since n ≥ 3

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 Table 1 SUMMARY OF THE COORDINATES OF POINTS FOR THE CYLINDER PORTION.

Coordinates
Points
ρ φ z
A r 0 0
C r 2ψ 0
D r cosψ − a cos θ ψ -b
E r 0 -2b
G r 2ψ -2b

 2k 2 cos θ sin θ cosψ  2 cos 2 θ

B  2 − cos θ + a ψ − b
 k + cos 2
θ sinψ  k + cos 2 θ
2

 2k 2 cos θ sin θ cosψ  2k 2

F  2 − cos θ + a ψ − b
 k + cos θ
2
sinψ  k 2 + cos 2 θ

r cosψ − a cos θ 3k 2 + 2 cos 2 θ

H 0 − b
k 2 + cos 2 θ

r cosψ − a cos θ 3k 2 + 2 cos 2 θ

I 2ψ − b
k 2 + cos 2 θ

4k 2
J r 0 − b
k + cos 2 θ
2

4k 2 + 2 cos 2 θ
K r ψ − b
k 2 + cos 2 θ

4k 2
L r 2ψ − b
k + cos 2 θ
2

3 ∆ = 1 − 8 tan 2
π
. (11)
− ≤ c < 0. (9)
3 2n

If there are solutions of θ from Eq. (7), the coordinates of
H, I, J, K, L can also be worked out by making use of pattern
symmetry, which are listed in Table 1.
When k = 1
When k = 1, i.e., a = b and the basic unit is square, Eq. (7)
reduces to the following quadratic equation with one unknown
tan θ.
c tan 2 θ + tan θ + 2c = 0 .
Substituting Eq. (8) into Eq. (10), the discriminant of Eq. (10) is
The discriminant must be greater or equal to zero for
Eq. (10) to have real roots. When n ≥ 5 , ∆ > 0 , and there are
two real roots for Eq.(10). If both roots satisfy ψ ≤ θ ≤ π / 2 ,
this means that there are two configurations at which a cylinder
of a uniform radius can be rigidly assembled out of the pattern.
Consider an example with n = 6 . Two values of θ, 0.5753
and 1.2572, can be obtained by solving Eq. (10). And the
coordinates of the points for the corresponding cylinder in each
case are listed in Table 2.
(10)
When k ≠ 1
When k ≠ 1, i.e., a ≠ b and the basic unit is rectangular,
Eq. (7) is a cubic equation with one unknown tan θ. The
discriminant of Eq. (7) is

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 Table 2 EXAMPLE COORDINATES OF POINTS FOR THE CYLINDER PORTION.

Coordinates
Points θ = 0.5753 θ = 1.2572
ρ φ z ρ φ z
A 1.0881a 0 0 1.9023a 0 0
B 1.0881a π/6 -0.8263a 1.9023a π/6 -0.1740a
C 1.0881a π/3 0 1.9023a π/3 0
D 0.1033a π/6 -a 1.3388a π/6 -a
E 1.0881a 0 -2a 1.9023a 0 -2a
F 1.0881a π/6 -1.1737a 1.9023a π/6 -1.8260a
G 1.0881a π/3 -2a 1.9023a π/3 -2a
H 0.1033a 0 -2.1737a 1.3388a 0 -2.8260a
I 0.1033a π/3 -2.1737a 1.3388a π/3 -2.8260a
J 1.0881a 0 -2.3474a 1.9023a 0 -3.6520a
K 1.0881a π/6 -3.1737a 1.9023a π/6 -3.8260a
L 1.0881a π/3 -2.3474a 1.9023a π/3 -3.6520a

Thirdly, when 3 ≤ n ≤ 9 , it is found numerically that

2 2 2 14c 2 + 1 − 3c 4 − d
2 2 ∆ < 0 regardless of k. This means that at most one such
∆ = −4k {(1 + c ) k [k − ]
2(1 + c 2 ) 2 configuration exists within this range of n.
, (12) Finally, when n > 9 , numerical results suggest that
14c 2 + 1 − 3c 4 + d
[k 2 − ] + 4c 2 } discriminant could be positive, negative, or zero, indicating that
2(1 + c 2 ) 2 more than one such configurations could exist. The range of n
from 10 to 20, which are practically usable, has been checked,
in which all supporting the above conclusion.
It is important to note that all the real roots need to satisfy
d = −3c8 − 152c 6 + 90c 4 − 16c 2 + 1 . (13) ψ ≤ θ ≤ π / 2 for the particular configuration to exist.

A number of observations can be made from the discriminant.

FOLDING PATH FROM A SHEET OF MATERIAL
14c 2 + 1 − 3c 4 + d Provided that those particular rigidly assembled
First, when k > , ∆ < 0 regardless of
2(1 + c 2 ) configurations discussed above exist for a cylinder, the next
question is how to form the cylinder by rigidly folding a sheet
c, or essentially n which is related to c through Eq. (8). It is
of material, such as a piece of paper.
known from elementary theory of cubic equation that there is
Each basic unit of the waterbomb pattern has one degree of
only one real root for Eq. (7). In other words, there is, at most,
freedom when symmetry is maintained. However, the assembly
one configuration at which a cylinder of uniform radius can be
of these units has in general multiple degrees of freedom when
rigidly assembled out of the pattern.
it is folded. Consequently various folding paths exist along
14c 2 + 1 − 3c 4 + d which a cylinder of uniform radius can be folded from a sheet
Secondly, when k ≤ , the discriminant
2(1 + c 2 ) material using the waterbomb pattern. Here we present one
could be positive, negative, or zero. Elementary theory of cubic folding path by enforcing the constraint that all the basic units
equation again tells us that there might be more than one real are folded simultaneously to an identical dihedral angle at each
root for Eq. (7). Therefore more than one such configurations intermediate configuration, thereby reducing the number of
could exist this case. degrees of freedom to one. To prove that this is a rigid folding

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 0.7

0.6
ψ=π/6
0.5

ψ ' (rad)
0.4

0.3

0.2

0.1

0
1.25 1.3 1.35 1.4 1.45 1.5 1.55 1.6
θ (rad)

Figure 5 ψ’ VS. θ CURVE.

Consider the example with k = 1 and n = 6 mentioned

above. It is known that θ = 1.2572 corresponding to a rigid
foldable configuration. In this case, Eq. (15) reduces to

ψ' tan θ
tan = . (16)
2 tan 2 θ + 2

Figure 4 TWO BASIC UNITS OF THE WATERBOMB PATTERN IN A

The ψ ' vs. θ curve is plotted in Fig. 5. It can be seen that
PARTIALLY FOLDED CONFIGURATION. ψ ' monotonically approach to π/6 as θ decreases from π/2 to
1.2572. When θ = 1.2572 , ψ ' reaches π/6, the folding
process, consider only two layers in a strip as shown in Fig. 4. process is complete, and a cylinder is finally formed.
Radius r’ can be obtained geometrically as
MOTIONS FROM A RIGIDLY ASSEMBLED
sin θ CONFIGURATION
r′ = a, (14)
sinψ ' A cylinder of a uniform radius that is rigidly folded out of a
sheet with the waterbomb pattern can still expand or collapse
and the coordinates of points A – L can also be calculated. They radially from that particular configuration. It is clear from the
are similar to those in Table 1 except that r ' and ψ ' replace geometrical analysis above that if the radius of the cylinder is
r and ψ, respectively. kept uniform during the motion process, in-plane deformation
Since all the basic units are folded to an identical dihedral would occur. If, on the other hand, the radius of the cylinder is
angle 2θ at each intermediate configuration, the cylinder allowed to vary longitudinally, for certain pattern geometry the
maintains a uniform radius. Therefore Eq. (5) applies, and the cylinder can freely expand or collapse from a rigidly assembled
following equation can be obtained by substituting the configuration without incurring any in-plane deformation, i.e.,
coordinates of points A and F and Eq. (14) into Eq. (5) the cylinder works as a mechanism. To demonstrate this feature,
let us consider an example in which m = 3 , n = 6 , and l = 1 .
ψ' k 2 tan 2 θ + k 2 − 1 Still only two basic units shown in Fig. 3 are examined. Should
tan = 2 . (15) the cylinder be a mechanism, there must be
2 k tan 3 θ + (k + 1) tan θ

When θ = π / 2 , the pattern is completely flat and lHE = b


ψ ' = 0 . The pattern is folded when θ < π / 2 . As long as lHF = a + b
2 2

ψ ' < π / n , the central angle corresponding to the whole pattern 

lKH = a 2 + b2
2nψ ' < 2π . In this case, the pattern does not form a complete  . (17)
lKF = 2b
cylinder, but only a portion of the cylinder or a singly curved 
cylindrical shell, and no protrusion occurs among its parts. lJH = b
Therefore the folding process remains rigid at all time until lJK = a
ψ ' = π / n and the pattern forms a complete cylinder.

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 Table 3 COORDINATES OF POINTS AT θ =π /6 AND θ = π /3.

Coordinates
Points θ =π /6 θ =π /3
ρ φ z ρ φ z
A a 0 0 1.7321a 0 0
B 0.9897a π/6 -0.8571a 1.8000a π/6 -0. 4000a
C a π/3 0 1.7321a π/3 0
D 0 π/6 -a a π/6 -a
E a 0 -2a 1.7321a 0 -2a
F 0.9897a π/6 -1.1429a 1.8000a π/6 -1.6000a
G a π/3 -2a 1.7321a π/3 -2a
H 0.0136a 0 -2.1644a 0.8140a 0 -2.3970a
I 0.0136a π/3 -2.1644a 0.8140a π/3 -2.3970a
J 1.0050a 0 -2.2936a 1.6080a 0 -3.0030a
K 1.0334a π/6 -3.1423a 1.4000a π/6 -3.5600a
L 1.0050a π/3 -2.2936a 1.6080a π/3 -3.0030a

Now whether the cylinder is a mechanism or not hinges on
whether we can find the coordinates of H, I, J, K and L from
Eq. (17).
Equation (17) can be solved numerically. All the
coordinates can be obtained within the range π / 6 ≤ θ < π / 2 .
This indicates that the cylinder, starting from a rigidly
assembled configuration, say θ = 0.5753 , can both expand and
collapse radially deformation-free. Two sets of coordinates
calculated from Eq. (17), corresponding to θ = π / 6 and
θ = π / 3 , respectively, are listed in Table 3. It can been seen
that when θ = π / 6 , ρK > ρ F , i.e., the ends of the cylinder
has a radius greater than that in the middle. When θ = π / 3 ,
ρK < ρF , i.e., the ends of the cylinder has a radius smaller than
that in the middle.
This cylinder constructed from the waterbomb pattern
ceases to be a mechanism when any pair of adjacent rigid
panels collides with each other. We are still in the process of
determining the motion limit of this mechanism in our on-going
research.
When m > 3 , the motion of the cylinder becomes more
complicated, which would warrant further investigation.
CONCLUSION
We have conducted a geometrical analysis of the
waterbomb pattern in this paper to establish the conditions of
assembling a cylinder of a uniform radius through rigidly
folding the waterbomb pattern. The main conclusions drawn
from the study are as follows:
• Cylinders made from the waterbomb pattern are generally
not rigidly foldable, but there exist particular
configurations at which a cylinder of a uniform radius can
be rigidly assembled out of the pattern without distortion,
provided that a suitable pattern geometry is selected.
• The ranges of geometric parameters within which those
particular configurations exist have been obtained.
• In the case that a particular rigidly assembled configuration
exists for a pattern, a folding path exists along which the
pattern can be folded from a flat sheet to a cylinder of a
uniform radius and remain rigid at all time.
• Certain cylinders made from the waterbomb pattern are
actually mechanisms within a limited range, i.e., they can
alter their shape in a manner that is deformation–free.
This work provide a way of assembling a cylinder rigidly
out a waterbomb pattern without causing any material
deformation, or identifying a deformation-free starting
configuration for a cylinder made from the waterbomb pattern
in a numerical analysis, which makes setting up a numerical
simulation convenient and straightforward. In the next step, an
extensive numerical simulation of cylinders made out of water
bomb patterns will be conducted to investigate the relationship
between pattern geometry, including wall thickness which is
ignored in the current study, and the motion and deformation
properties of those cylinders, which could provide a guidance
for engineering applications of those cylinders. Moreover, the
geometry of the cylinders made from the waterbomb pattern
when the condition for a cylinder of a uniform radius is not

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 satisfied will be explored, and the results will be reported in due
course.

ACKNOWLEDGMENTS
The authors are grateful for the financial support provided
by the Air Force Office of Scientific Research (R&D project
134028).

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