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1. Deployable Convex Generalized Cylindrical Surfaces Using Torsional Joints

   https://doi.org/10.1115/DETC2020-22551  

   Nelson, Todd G.; Baldelomar Pinto, Luis M.; Bruton, Jared T.; Deng, Zhicheng; Nelson, Curtis G.; Howell, Larry L. (January 2020, Proceedings of the 2020 International Design Engineering Conferences)

   null (Ed.)

   Abstract The ability to deploy a planar surface to a desired convex profile can enhance foldable or morphing airfoils, deployable antennae and reflectors, and other applications where a specific profile geometry is desired from a planar sheet. A model using a system of rigid links joined by torsional springs of tailorable stiffness is employed to create an approximate curved surface when two opposing tip loads are applied. The physical implementation of the model uses compliant torsion bars as the torsion springs. A multidimensional optimization algorithm is presented to minimize the error from the rigid-link approximation and account for additional manufacturing and stress considerations in the torsion bars. A proof is presented to show that equal torsion spring spacing along the horizontal axis of deployed parabolic profiles will result in minimizing the area between the model’s rigid-link approximation and smooth curve. The model is demonstrated through the physical construction of a deployable airfoil surface and a metallic deployable parabolic reflector. 

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2. Rapid Design of Fully Soft Deployable Structures Via Kirigami Cuts and Active Learning

   https://doi.org/10.1002/admt.202301305  

   Ma, Leixin; Mungekar, Mrunmayi; Roychowdhury, Vwani; Jawed, MK (January 2024, Advanced Materials Technologies)

   Abstract Soft deployable structures – unlike conventional piecewise rigid deployables based on hinges and springs – can assume intricate 3‐D shapes, thereby enabling transformative soft robotic and manufacturing technologies. Their virtually infinite degrees of freedom allow precise control over the final shape. The same enabling high dimensionality, however, poses a challenge for solving the inverse problem: fabrication of desired 3D structures requires manufacturing technologies with extensive local actuation and control, and a trial‐and‐error search over a large design space. Both of these shortcomings are addressed by first developing a simplified planar fabrication approach that combines two ingredients: strain mismatch between two layers of a composite shell and kirigami cuts that relieves localized stress. In principle, it is possible to generate targeted 3‐D shapes by designing the appropriate kirigami cuts and the amount of prestretch (without any local control). Second, a data‐driven physics‐guided framework is formulated that reduces the dimensionality of the inverse design problem using autoencoders and efficiently searches through the “latent” parameter space in an active learning approach. The rapid design procedure is demonstrated via a range of target shapes, such as peanuts, pringles, flowers, and pyramids. Experiments and our numerical predictions are found to be in good agreement. 

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3. Review of Root-Mean-Square Error Calculation Methods for Large Deployable Mesh Reflectors

   https://doi.org/10.1155/2022/5352146  

   Yuan, Sichen (August 2022, International Journal of Aerospace Engineering)

   Ghenaiet, Adel (Ed.)

   In the design of a large deployable mesh reflector, high surface accuracy is one of ultimate goals since it directly determines overall performance of the reflector. Therefore, evaluation of surface accuracy is needed in many cases of design and analysis of large deployable mesh reflectors. The surface accuracy is usually specified as root-mean-square error, which measures deviation of a mesh geometry from a desired working surface. In this paper, methods of root-mean-square error calculation for large deployable mesh reflectors are reviewed. Concept of reflector gain, which describes reflector performance, and its relationship with the root-mean-square error is presented. Approaches to prediction or estimation of root-mean-square error in preliminary design of a large deployable mesh reflector are shown. Three methods of root-mean-square error calculation for large deployable mesh reflectors, namely, the nodal deviation root-mean-square error, the best-fit surface root-mean-square error, and the direct root-mean-square error, are presented. Concept of effective region is introduced. An adjusted calculation of root-mean-square error is suggested when the concept of effective region is involved. Finally, these reviewed methods of root-mean-square error calculation are applied to surface accuracy evaluation of a two-facet mesh geometry, a center-feed mesh reflector, and an offset-feed mesh reflector for demonstration and comparison. 

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4. Kirigami-Based Deployable Transcrease Hard Stop Models Usable in Origami Patterns

   https://doi.org/10.1115/DETC2019-98056  

   Andrews, David W.; Avila, Alex; Butler, Jared; Magleby, Spencer P.; Howell, Larry L. (January 2019, Proceedings of the 2019 International Design Engineering Conference)

   Abstract Stopping origami in arbitrary fold states can present a challenge for origami-based design. In this paper two categories of kirigami-based models are presented for stopping the fold motion of individual creases using deployable hard stops. These models are transcrease (across a crease) and deploy from a flat sheet. The first category is planar and has behavior similar to a four-bar linkage. The second category is spherical and behaves like a degree-4 origami vertex. These models are based on the zero-thickness assumption of paper and can be applied to origami patterns made from thin materials, limiting the motion of the base origami pattern through self-interference within the original facets. Model parameters are based on a desired fold or dihedral angle, as well as facet dimensions. Examples show model benefits and limitations. 

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5. Encoder-less Robot Control for Space Operations with Continuum Robots

   Frazaelle, C.G.; Walker, I.D.; AlAttar, A.; Kormushev, P. (March 2021, IEEE Aerospace Conference)

   null (Ed.)

   Continuum robots have strong potential for application in Space environments. However, their modeling is challenging in comparison with traditional rigid-link robots. The Kinematic-Model-Free (KMF) robot control method has been shown to be extremely effective in permitting a rigid-link robot to learn approximations of local kinematics and dynamics (“kinodynamics”) at various points in the robot’s task space. These approximations enable the robot to follow various trajectories and even adapt to changes in the robot’s kinematic structure. In this paper, we present the adaptation of the KMF method to a three-section, nine degrees-of-freedom continuum manipulator for both planar and spatial task spaces. Using only an external 3D camera, we show that the KMF method allows the continuum robot to converge to various desired set points in the robot’s task space, avoiding the complexities inherent in solving this problem using traditional inverse kinematics. The success of the method shows that a continuum robot can “learn” enough information from an external camera to reach and track desired points and trajectories, without needing knowledge of exact shape or position of the robot. We similarly apply the method in a simulated example of a continuum robot performing an inspection task on board the ISS. 

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