Folding kinematics of kirigami-inspired space structures

This paper studies the folding of square, kirigami-inspired space structures consisting of concentrically arranged modular elements formed by thin shells. Localized elastic folds are introduced in the thin shells and different folding strategies can be obtained by varying the location of the folds and the sequence of imposed rotations. Modeling each modular element with rigid rods connected by revolute joints, numerical simulations of the kinematics of folding are obtained, including constraints that represent folding aids and a gravity offload system. These simulations are used to study two specific packaging schemes, and the folding envelopes of a specific structure are analyzed to identify the scheme that is easier to implement in practice. This particular scheme is demonstrated by means of a physical prototype.