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BYU CMR

Maker's Toolkit

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Prints and projects from popular collaborations with the CMR

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Bloom Pattern

Yoshimura Bloom Pattern

Origami
This foldable hexagonal origami pattern demonstrates rigid-foldability and a high degree of compactness, while also being highly uniform and symmetric.

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Single-Sheet Model Chair

A folding chair model that utilizes Lamina Emergent Torsion joints to make a comfortable seat from a single sheet. This is a 3D printable version of the full-scale model.

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One-Piece Compliant Blaster

This compliant blaster uses the stiffness of the beams within it to store elastic energy, which can then be used to fire a dart. Due to the fact that all of its springs are made in this way, the mechanism can be downscaled to remarkably small sizes.

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One-Piece Compliant Disk Launcher

This compliant disk launcher offers an alternative approach to launching small objects great distances. The underlying mechanism is the same as that found in the blaster.

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Pocket Kinematic Coupling

Mechanisms

A kinematic coupling is a way of constraining one structure to another in a repeatable and precise way. This model, inspired by our visit with Alex Slocum, lets you design and experiment with your own set of contacts

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3D Printable Flasher

Origami

This pattern demonstrates the fun kinematics and compactability of flasher patterns, and can be printed on most 3D printers!

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Fully Compliant Pliers

Compliant Mechanisms

These pliers show how compliant mechanisms can be used to perform the same functions as much more complicated, classical mechanisms. These pliers are made from a single material, and so are much easier to produce.

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"Wyrd" Elephant Compliant Mechanism

Compliant Mechanisms

A Wyrd mechanism is a compliant mechanism that has motion similar to a double parallel mechanism.

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See our related article in

Nature Communications

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Models showcasing compliant mechanisms in action

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Polyflexahedra

Polyflexahedra

Compliant Mechanism

A fun, modular approach for constructing regular, irregular, and completely amorphous solids that you can assemble, disassemble, and play with at home!


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Compliant Soccer Ball.JPG

Compliant Soccer Ball

Compliant Mechanism

This bouncy soccer ball is composed of 30 flexible members and 12 joints, which allow it to bounce and roll right after assembly.

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compact LET kaleidocycle firework

Compact LET Firework

Compliant Mechanism

This flexible firework model takes inspiration from the kaleidocycle, rolling inwards or outwards on itself without stopping.

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CORE Bearing

CORE Bearing

Compliant Mechanism

This bearing combines springs and a planetary gear system to create a fun fidget toy.

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Empty Easter Tomb

Compliant Mechanism

This is an easter decoration of the empty tomb on Easter day.


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Compliant Valentine's Heart

Compliant Mechanisms
Show your love on Valentine's Day with this sweet heart formed from two bending beams and a locking mechanism.

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compliant ornament

Compliant Christmas Bauble

Compliant Mechanisms
This Christmas ornament showcases the ways that stiff materials can bend when thin enough! Enjoy this six-fold symmetric model on your tree!

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WYRD Nativity

Compliant Mechanisms
This nativity highlights the WYRD mechanism, which keeps the star centered above the Christ child even as the roof of the manger shakes. #LightTheWorld

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LEGO-Compatible Bistable Switch

This structure, which can be used with popular brick-based toys, features similar compliant beams to those found in the launchers above.

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Display Stands for Compliant Blasters

Use these display stands to show off your compliant mechanism blaster, from the full to the quarter-scale models.

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Micromanipulator

This mechanism was used by our team to carefully position and actuate the miniature blasters where no larger form of manipulation could work.

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Constant-Force Mechanism

Compliant Mechanisms

A constant force mechanism provides a constant resistance through a specific range of motion.

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Linear Motion Mechanism

Compliant Mechanism

This design was developed for a safing and arming mechanism for nuclear weapons. The use of compliant mechanisms allowed the design to be scaled down with some components the size of a human hair, yet still being reliable.

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2 DOF Space Pointer

Compliant Mechanisms

This mechanism allows for motion in two degrees of freedom, with no springs or hinges necessary. It was designed for carefully turning rocket nozzle in space.

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Compliant Overrunning Clutch

Compliant Mechanisms

Overrunning clutches, or freewheel clutches, are used in applications which require torque to be transmitted in only one direction. This design most resembles the ratchet and pawl clutch.

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Bistable Mechanism

Compliant Mechanisms

This mechanism demonstrates how compliant beams can be used to store energy not just while actively being bent, but also in a bistable configuration like this. This model also makes for a great fidget toy.

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"Wyrd" BYU Cougar Compliant Mechanism

Compliant Mechanism

This Wyrd mechanism imitates what is usually made from rigid hinges by using thin living hinges. Print it to see how it moves!

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Centrifugal Clutch

Compliant Mechanisms

This clutch only engages with the outer wall once the inner rotor reaches a specific velocity, which is desirable in almost all applications involving an internal combustion engine.

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Ortho-Planar Spring

Compliant Mechanisms

The Ortho-Planar Spring is a compact spring with a platform that undergoes a large displacement in either direction, but does not rotate like conventional planar springs. This invention has numerous advantages.

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Bistable Compliant Switch

Compliant Mechanisms

This bistable switch is an example of a compliant mechanism with a four-bar mechanism pseudo-rigid-body model. A contact force is created by causing the contacts to connect before the second stable equilibrium position is reached. Living hinges are used at the other joints.

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Large-Displacement Linear-Motion Mechanisms

Compliant Mechanisms

This kind of mechanism is used to displace a bar in a straight line and in a very secure and predicatble way. It works by using multiple beams as both springs and guides for the central bar.

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Cross-Axis Flexural Pivot

Compliant Mechanisms

This pivot demonstrates how compliant mechanisms can be used instead of pin joints in certain rigid-body situations, where wear should be avoided and springiness is desired.

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Euler Catapult

Compliant Mechanism

This catapult was made with an Euler spiral. This is significant because in its undeflected state it is curved, but when proper loads are placed at the end of the beam the spiral lays flat.

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Flex-16: Large-Displacement Hinge

Compliant Mechanism

This compliant mechanism is a large-displacement monolithic compliant rotational hinge to help deployable hinges on spacecraft be more efficient.

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Christmas Ornament

Compliant Mechanisms

This delightful Christmas ornament uses LET joints to create a spherical case for a simple origami-inspired tree.

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Bat-Flex

Compliant Mechanisms

This Halloween-inspired model uses compliant hinges to allow for a cute range of motion in the flapping of the bat's wings.

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Cross-Axis Ghost

Compliant Mechanisms

This little ghost bends back and forth in a spooky little motion built off the Cross-Axis Flexural Pivot.

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Self-Opening Easter Bunny

Compliant Mechanism

This 3D printed bunny "springs" to life as it opens itself each time it is closed.

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St. Patrick's Day Box

Compliant Mechanism

This box uses lenticular folds to store spring energy, as well as a compliant latch to keep the box closed.

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Compliant Surgical Grippers

Compliant Mechanism

A example of a simplified compliant mechanism that retains its functionality as it is scaled down for surgical use.

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Mechanisms utilizing origami in engineering

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Origami Hexagon Dice Tray

Origami

A dice tray for keeping your dice on the table, in style!

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Thickened Yoshimura Pattern

Origami

Developed for an origami robot design, this model lets you explore the many degrees of freedom of two yoshimura units.

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Squaring the Cube

Origami

This model demonstrates how a thick-paneled square can be folded up into a compact, cubic bundle.

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Halloween Yoshimura Pumpkin

Origami

This Jack-o'-Lantern model uses the Yoshimura pattern to transform from spooky to spookier!

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Foldable Valentine's Day Heart

Based on the ballistic barrier fold, this model brings a fun bit of folding variety to the Valentine's Day classic.

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Constant Thickness Flasher

Origami

This constant thickness flasher folds from a compact structure to a large flat face with minimal uneven faces on either side.

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Thick Miura-Ori Fold

Origami

Designed by JingYi Yang and Dr. Zhong You of Oxford University, this origami shows a fascinating new technique for making thick structures.

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Flat Ice Scraper

Ice Scraper

Origami

This origami ice scraper is the perfect tool for icy winters! It stores flat and can be printed small enough to fit in a wallet.

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Collapsing Cube

Origami

An easy-to-store origami inspired collapsing container.

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Vertex Roof Hidey Cube

Origami

This version of our origami-inspired folding childcare furniture product has a roof!

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Folding Hexagon

Origami

This folding hexagon origami pattern increases its surface area by nearly 300% when opened!

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Octocube

Origami

The octocube model demonstrates how even structural members that don't look like flat sheets can be used in ways that follow the rules of origami. The six sets of folds in this cube all work together to make a cycle.

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Origami Flasher

Origami

This origami flasher, originally designed by Jeremy Shafer and Chris Palmer, shows how origami patterns can be used to compact large sheets into very small volumes.

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Compliant Kaleidocycle

Origami

This model is unique because, despite the fact that it is built from compliant mechanisms, it can continuously cycle through a full 360 degrees of motion. It also makes for a great fidget toy.

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Compliant Kaleido-Flake

Origami

Based on the kaleidocycle, this Kaleido-flake is perfect for winter. Based on compliant mechanisms this snowflake is unique for its ability to undergo continuous rotation.

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Ballistic Barrier

Origami

This is a downscaled version of our full-sized, bullet-proof barrier. It demonstrates how origami can be used to make a deployable wall on-demand.

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Elliptic Infinity

Origami

This mathematically fascinating sculpture is an original design by Dr. Robert Lang.

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Four-bar Origami vertex

Origami

Origami not only allows for new and complicated mechanisms, but can also emulate more traditional mechanisms as well.

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Origami Bidirectional Tube

Color Changing Bidirectional Tube

Origami

This origami tube has many interesting properties, one of which can be seen in this color changing pattern. It has been the inspiration for some of our other works. Check out our publications or the link to learn more.

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Square Twist

Origami

The kinetic sculpture shown here is made of a much larger square of material than just a regular piece of paper, and it is made of a material that is an entire inch thick. Try folding that!

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An image of a mechanisms

Oriceps: Origami Inspired Forceps

Origami

This Oriceps design is an example of a compliant mechanism that was inspired by Shafer's origami "Chomper", and was made for application as a pair of forceps that were later adapted and implemented for use on one of Intuitive Surgical's da Vinci robots.

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Volume-Efficient Miura-ori (VEMO)

Origami

This ultra-compact origami-inspired deployable structure was designed for reflectarray antennas. It compacts down into a perfect cube!

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Bistable-to-Monostable Magnetic Hinge

Origami

This is a printable hinge capable of folding 180 degrees with a bias back to the deployed state.

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Magnetic Gears

Origami

Identical gears with identical square magnets embedded with polarization in the plane of rotation.

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Magnetic Gear Links

Origami

An extension of the Magnetic Gears.

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MaLDO Hinge

Origami

A thin magnetic hinge capable of folding 180 degrees, but returns to naturally open state.

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MaLO Hinge

Origami

A thin magnetic hinge that can fold 180 degrees but always wants to return to the open state.

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SOURCE Vertex

Origami

Most origami is with thin things, such as paper. However, for many engineering applications it is necessary to fold much thicker materials. These origami vertices show one method for thick folding: SORCE joints.

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Compliant segments compatible with popular building toys

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Fixed-Fixed Beam - Half Circle

FlexLinks

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"Airplane" Beam

FlexLinks

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Fixed-Fixed Beam - Quarter Circle

FlexLinks

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Fixed-Fixed Straight Beam

FlexLinks

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Fixed-Slotted Straight Beam

FlexLinks

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Cantilever Beam Adjust

FlexLinks

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Cross-Axis Flexural Pivot

FlexLinks

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"Satellite" Beam

FlexLinks

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Cantilever Beam

FlexLinks

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Fixed-Fixed Horizontal Straight Beam

FlexLinks

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Mechanisms that hinge on unconventional geometry

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Developable Four-Bar Linkage - Double Cylinder

Developable Mechanisms

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Developable Four-Bar Linkage - Cone

Developable Mechanisms

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Large-size Circular Links

Developable Mechanisms

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Medium-size Circular Links

Developable Mechanisms

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Small-size Circular Links

Developable Mechanisms

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Morphing "Y"

Developable Mechanisms

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CurvedLinks: Adapter

Developable Mechanism

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Developable CORE

Developable Mechanism

A CORE, or compliant rolling-contact element, is composed of two cams joined together with multiple complaint flexures. Tension develops in these flexures as the cams roll in contact with another; this holds the cams together and allows the CORE to mimic the rotation of a pin joint

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Complex shapes folded and cut only once

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ONE CUT "Y"

OneCuts

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One Cut Origami Star

OneCuts

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Holiday Themed Mechanisms

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compact LET kaleidocycle firework

Compact LET Firework

Compliant Mechanism

This flexible firework model takes inspiration from the kaleidocycle, rolling inwards or outwards on itself without stopping.

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Empty Easter Tomb

Compliant Mechanism

This is an easter decoration of the empty tomb on Easter day.


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Compliant Valentine's Heart

Compliant Mechanisms
Show your love on Valentine's Day with this sweet heart formed from two bending beams and a locking mechanism.

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Valentine's Hyperboloid Bouquet

Holiday
This bouquet of flowers is formed from a hyperboloid of rigid stems. Twist and rotate the base to alter the shape of the vase!

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compliant ornament

Compliant Christmas Bauble

Compliant Mechanisms
This Christmas ornament showcases the ways that stiff materials can bend when thin enough! Enjoy this six-fold symmetric model on your tree!

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WYRDNativityGIF-ezgif.com-crop.gif

WYRD Nativity

Compliant Mechanisms
This nativity highlights the WYRD mechanism, which keeps the star centered above the Christ child even as the roof of the manger shakes. #LightTheWorld

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Halloween Yoshimura Pumpkin

Origami

This Jack-o'-Lantern model uses the Yoshimura pattern to transform from spooky to spookier!

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Foldable Valentine's Day Heart

Based on the ballistic barrier fold, this model brings a fun bit of folding variety to the Valentine's Day classic.

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Christmas Ornament

Compliant Mechanisms

This delightful Christmas ornament uses LET joints to create a spherical case for a simple origami-inspired tree.

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Bat-Flex

Compliant Mechanisms

This Halloween-inspired model uses compliant hinges to allow for a cute range of motion in the flapping of the bat's wings.

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Cross-Axis Ghost

Compliant Mechanisms

This little ghost bends back and forth in a spooky little motion built off the Cross-Axis Flexural Pivot.

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Self-Opening Easter Bunny

Compliant Mechanism

This 3D printed bunny "springs" to life as it opens itself each time it is closed.

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St. Patrick's Day Box

Compliant Mechanism

This box uses lenticular folds to store spring energy, as well as a compliant latch to keep the box closed.

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For all of our 3D print files, see our CMR profiles on:

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For tutorials on things you can build yourself, see our profile on:

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