Hyper Yoshimura: How a slight tweak on a classical folding pattern unleashes meta-stability for deployable robots

2025-05-15

AI Summary

Deployable robots demand lightweight, compact designs with multi-stable reconfigurability. Method: This paper introduces an enhanced Yoshimura origami module, first identifying and exploiting its asymmetric metastable states—namely “pop-out” and “over-fold”—to enable discrete, programmable shape morphing via three tunable geometric parameters: inclination angle, phase offset, and slant height. A scalable forward/inverse kinematic modeling framework is established to approximate complex 3D geometries and support multifunctional integration. Contributions/Results: Integrating geometric modeling, metastability analysis, tendon-driven and pneumatic actuation, and experimental validation, we develop the Yoshimura space manipulator robot—capable of grasping, solar tracking, and high-load bearing. Its cross-scale engineering applicability is demonstrated in a meter-scale solar charging station, confirming feasibility from module-level design to real-world infrastructure deployment.

Technology Category

• Intelligent Robots: Manipulation
• Planning, Routing, and Scheduling: Replanning and Plan Repair
• Search and Optimization: Mixed Discrete/Continuous Search

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: On-Device user modeling, personalization, and recommendation

Abstract

Deployable structures inspired by origami offer lightweight, compact, and reconfigurable solutions for robotic and architectural applications. We present a geometric and mechanical framework for Yoshimura-Ori modules that supports a diverse set of metastable states, including newly identified asymmetric"pop-out"and"hyperfolded"configurations. These states are governed by three parameters -- tilt angle, phase shift, and slant height -- and enable discrete, programmable transformations. Using this model, we develop forward and inverse kinematic strategies to stack modules into deployable booms that approximate complex 3D shapes. We validate our approach through mechanical tests and demonstrate a tendon- and pneumatically-actuated Yoshimura Space Crane capable of object manipulation, solar tracking, and high load-bearing performance. A meter-scale solar charging station further illustrates the design's scalability. These results establish Yoshimura-Ori structures as a promising platform for adaptable, multifunctional deployable systems in both terrestrial and space environments.

Problem

• Develop metastable Yoshimura-Ori modules for deployable robots
• Enable programmable transformations via geometric parameters
• Validate kinematic strategies for 3D shape approximation

Innovation

• Geometric framework enables diverse metastable states
• Kinematic strategies for stacking deployable booms
• Tendon- and pneumatically-actuated space crane