Invariant Curves and the Variational Structure in Tubular Origami Dynamical Systems

Abstract

We present a theoretical and numerical dynamical-systems analysis of tubular origami tessellations by identifying the inverse module number, $N^{-1}$, as a perturbation parameter within the framework of Kolmogorov--Arnold--Moser (KAM) theory. In the large-module limit ($N \to \infty$), we show that the conservative dynamics formally converges to an integrable map with a variational structure, whose generating function corresponds to the total discrete mean curvature. From the viewpoint of KAM theory, nonresonant invariant curves of the integrable limit are expected to persist for sufficiently large $N$. Consistent with this expectation, numerical computations with increasing $N$ show that large regions of the phase space are filled with structures that appear to be invariant curves. By adjusting mountain-valley fold assignments and fold lengths, the system can be transformed into a nontwist map that exhibits multiple zero frequencies. The frequency profile in the integrable limit and the persistence of invariant curves allow us to control the number and arrangement of stable folding regions appearing as coexisting elliptic islands. These islands provide a phase-space interpretation of distinct folding modes, separated by invariant curves that act as geometric barriers to continuous deformation and obstruct transitions without self-intersection. Finally, we analyze the expanding and contracting dynamics of the origami structure within the framework of conformally symplectic systems. By introducing a virtual auxiliary fold as a drift control mechanism, we numerically confirm the existence of stable quasi-periodic attractors.