Deployment Simulation of a Parabolic Space Antenna with Rigid Pan e¡
One of the key problems related to Iarge reflec- Mechanisms & Tribology Symposium, ESA SP-297, De
tors is the verification ofthe real hardware deploy-
ment. On-ground deployment tests suffer from
severe disturbing effects due to the 1-g environ-
mentalload and friction in hinges of the test rig.
These effects could be covered by a numerical 3.
simulation when the test rig is also included in the
Multi-Body model. The experiences gained with
the numerical tools applied to the pure reflector
deployment promise successful calculations also 4.
with further enlarged models. Quantitative verifi-
cation could then be done by comparison of test
and analysis results.
The numerical modeling of friction requires 5.
future enhancement, which should also cover the
dependence of hinge reaction forces. And finally,
the measurement and selection of deployment test
6.
data that are suitable for quantitative verification
purposes are yet open questions.
7.
REFERENCES
l. B. SPECHT; Numerical Simulation of Multi-Body
8.
Systems in Space Applications, Third European Space
70
International Journal of Space Structures Vol. 8 Nos. 1&2 1993
1987, 59-63.
2. H. KELLERMEIER, H. VORBRUGG, K. PONTO~
PIDAN and D.C.G. EATON; The ESNMBB Unfur¡
able Mesh Antenna Dep1oyment for Mobile ServicA
Acta Astronautica, Vol. 19, No. 1, 1989, 47-56.
Y. BROU.STET, G. BRAZZINI, E. JOSEPH-GABRIEt
Aerospa~tale Unfurlable Reflector and Associate\
Mechamsms, Thtrd European Space Mechanisms d
Tnbology Symposium, ESA SP-297, Dec. 1987, 83-89.
M.C. BERNASCONI; Development of a 2.8m Offse
Antenna Reflector using Inflatable, Space-Rigidisel
Structures Technology, Second ESA Workshop 01
Mechanical Technology for Antennas, ESA SP-261, Au '
1986, 31-39.
N. ORLANDEA, M.A. CHASE, D.A. CALAHAN·
Sparsity-?riented Approach to the Dynamic Anal;si!
and Destgn of Mechanical Systems - Part I and ¡
ASME Paper No. 76-DET-19 and 76-DET-20, 1976.
E.J. HAUG; Computer Aided Kinematics and Dynamics
ofMechanical Systems, Vol. 1: Basic Methods, Allyn and
Bacon Series in Engineering, 1989.
J. GARCIA DE JALON, J. UNDA, A AVELLO and
J.M. nMENEZ; Dynamic Analysis of Three-Dimen·
sional Mechanisms in Natural Coordinates, ASME
Paper No. 86-DET-137, 1986.
Dynamics ofLarge Reflectors, Final Study Report, ESA!
ESTEC Contract No.: 8454/89/NL/PP(SC).
\
"i
Geometry of Expandable S pace
Structures
F. Escrig 1 and J.P. ValcarceJ2
1
School of Architecture of Sevilla, Spain; 2Shool of Architecture of La Coruna, Spain
g (Received 10 February 1990; revised version received 31 January 1992)
SUMMARY: Expandable Structures are a special kind of mechanism that can
be used in severa! different geometries. The geometry of structures based on
scissors is introduced to explain concepts necessary to design a wide range of
forms like masts, archs, plane spatia1 structures, cylindrical and spherical
bar structures.
1. 1NTRODUCTION (i)
Expandable Space Bar Structures are a special
kind of articulated structures that can achieve
several spatial configurations from completely
folded, where all structural elements are concen-
trated in a bundle, to widely expanded, covering a
great area. These assemblies are mechanisms that
may work as structures by means of proper
mechanic devices to flX them at desired positions.
Basically there are three kinds of Expandable
Space Bar Structures as follows:
a) UMBRELLA MECHANISMS, consisting of
a mast around which a radial bundle of bars is Figure 1
deployed by sliding a cylindrical or hinged joint and therefore to occupy more or less surface
over it (Figure 1) (Ref. 10). volume (Figures 7 and 8).
b) HINGED-COLLAPSIBLE STRUT MECH- If we connect these patterns between them, in
ANISMS, consisting of a set ofbars folded in such such a way asto guarantee the compatibility ofthe
a way that when such mechanisms deploy, hinges movement of each piece, we obtain a complex sys-
that connect two bars lock, and then the two bars tem able to grow in one, two or three spatial direc-
behave as ·a single continuous piece (Figure 2). tions, building a complex assembly with the same
e) X-STRUCTURES. They are the object ofthis properties of the elemental cells: expanding and
Paper and will be described extensively below. folding abilities . .
As we can see, the structural components are
2. THE SCISSOR-HINGED MECHANISM bars articulated at the ends and connected by
means of a joint at an inner point. This joint will
:X.-Structures are sets of several scissors as shown connect from two to four or even more bars.
in Figures 3, 4, 5 and 6. Each of these patterns are Patterns shown above are called regular and
able to achieve several movable configurations they may be warped and give rise to irregular units
lnternational Journal of Space Structures Vol. 8 Nos. 1&2 1993 71
 Geometry oj Expandable Space Structures f. Escrig and JP. Valcarcel

Figure 2

Figure 7 Figure 8
Figure 12 Figure 13
to achieve other complex spatial configurations
that will be explained below. To achieve this, sorne nection to give very stiff structures, as shown in
compatibility conditions between length of each Figure 14.
strut of the whole, ha ve to be satisfied. Figure 9 With warped cells we can obtain tapering masts
Characteristics of regular patterns are bars of (Figure 15) or curved pieces (Figure 16).
regular, growing is straight, as shown in Figures
the same size and crossing point in the middle of 10, 11, 12 and 13. In the case oflinear grids we can
the bars. Irregular cells lack one or both of these
use struts with more than one intermediate con-
properties and give a long series of different
possibilities. Of course, foldability is only possible
if sorne restrictions are achieved. In a general case
Figure 3 Figure 4 a structure like the one shown in Figure 9 can be
folded only if bar lengths satisfy:

1-8 + 4-8 = 1-7 + 4-7

Figure 14

3-7 + 5-7 = 39 + 59 (1)

2-8 + 6-8 = 2-9 + 6-9

Similar conditions must be satisfied when

several units are connected.
Depending ofthe kind ofirregularity we obtain
cells for different geometries and uses. We will try
a tentative classification.

3. LINEAR GRIDS

Longitudinal structures may be obtained by con-

Figure 5 Figure 6 necting patterns in one direction. If patterns are Figure 10 Figure 11 Figure 15

72 lnternational Joumal of Space Structures Vol. 8 Nos. 1&2 1993 73

lnternationa/ Journal oj Space Structures Vol. 8 Nos. 1&2 1993

Figure 16
4. PLANE GRIDS
They are made from regular cells and can be u sed
as roofs or umbrellas (Figure 17) stiffned by
means of cables or fabric.
If we connect severa! plane figures we can
obtain complex forms like the icosahedron shown
in Figure 18.
74
Geometry of Expandable Space Structures f. Escrig and J.P. Va/caree/
overs like those shown in Figures 21 and 22 as
e ell as the pyramid shown in Figure 23.
w Figure 24 shows sketches of umbrellas rem
. f or-
ced with cables.
Figure 23
Figure 17
6. TWO-WAY CYLINDRICAL GRIDS
On a cylindrical surface wc can draw a two-way
grid (Figure 25) along principal coordinates to
generate faces wherc to place scissors (Figure 26).
lf th e res ulting patterns meet the rcstrictions
defined above we obtain an expandable structure
with wide utility in a rchitecture. Figures 27 and 28
show a temporary exhibition room in Almeria
(Spain) proposed by the authors.
Figure 29 shows a structure proposed by HER-
NANDEZ M ERC HAN (Ref. lO),which will be
made with only one length of strut. lts angular
Figure 18 stability could be ensurcd by diagonalyzing a
Figure 21 number of modules with bars, cables or even the
5. PRISMATIC GRIDS fabric cover itself.
If we use leaned patterns as shown in Figures 19 7. THREE-WAY CYLINDRICAL GRIDS
and 20 we can obtain faceted surfaces to complete
lf we draw on a cylindrical surfacc a triangular
grid we can obtain triangles (Figure 30) where "A"
trusses are curved in a plane, whereas "B" and "C'
trusses are warped. As bcfore Figure 30a is a sim-
plified version of Figure 30b representing only
fac es tied to the scissors for the sake of clarity.
Figure 31 shows a conliguration where "A" tru sses
remain plane whilc "B" and "C" are warped. In
both cases, warping rcprcscnts an additional dif-
ficulty , since scissors cannot be connccted to a
warped face. Both diagonals lack an intermediate
point of contact. Thus, thrcc-way foldable cylin-
dric structures are a combination of sc issors and
isolatcd bars (Figure 32a).
The analysis that wc ha ve made ofsuch a type of
structures has confirmed that they are stable, pro-
---------- -- - ------ --- --- --- -
video that th e support points are immobilized
Figure 22
Figure 19 Figure 20
75
lnternational Journal of Space Structures Vol. 8 Nos. 1&2 1993
International Journa/ of Space Structures Vol. 8 Nos. 1&2 1993
 Geometry oj Expandable Space Structures F Escrig and JP Valcarce/

Figure 28

Figure 25

Figure 24

(Ref. 7). Another way of solving this problem is the
use of curved bars which in the folded position are
forced towards a straight configuration, thus stor-
ing strain energy for self-unfolding and folding
the structures in their final positions (Figure 32b ).
These structures can be built with only one length
of strut.
8. TWO-WAY SPHERICAL GRIDS
If we project a square mesh onto a spherical sur-
face (Figure 33) we can obtain expandable X-
Structures from patterns II and IV like those
shown in Figures 35 and 36. To obtain the crossing
point of scissors we will use the restrictions of
Figure 34: Angular segments ~¡ for the same node
D¡ will be equal. This means in the complete
structure
system of "n" equations with "m" variables, "n"
being the number of grid edges connecting D¡, "m"
the number of nades D¡, anda¡ the angle resulting
from edge sub-division. Figure 26 Figure 29
To complete the system we must add "s"
equations derived from symmetry and imposed
geometric constraints.
Finally we will have "n+s" equations in a sys·
tem with "m" variables. If"n + s" = "m" the systern
will be determined. Otherwise it will be incom·
plete or redundant.
Once obtained segments ~¡ from Figure 34 and
fixed the valued of the angle <\ we can obtain the
length of the bars from the relations:
l=l = Rsin~¡
i i-1 cos(8¡ + ~¡)
(3)

k =k = Rsin~¡
(2) i i-1 cos(8¡+~¡)
~¡ + ~i+1 = D¡Di+1 = a¡
R being the sphere radius for the angle 8¡. Figure 27
76
Intemational Joumal oj Space Structures Vol. 8 Nos. 1&2 1993 /¡llernationa/ Journal oj Space Struc/Ures Vol. 8 Nos. 1&2 1993 77

Figure 30a
Figure 30b
Figure 32a
With these lengths we can build the complete
structure and the joint coordinates for 8¡ variable
with kinematic position from O to 90°.
Two-way spherical grids are unstable since
angular distortions are possible. However this
effect can be avoided by diagonalizing a number
78
Geometry of Expandable Space Structures
Figure 31
Figure 32b
of elements as indicated above for cylindrical
grids. A sort of different geometries can be
achieved depending on strut lengths.
9. THREE-WAY SPHERICAL GRIDS
To obtain these grids with a spherical net, initíal
/ntemational Joumal of Space Structures Vol. 8 Nos. 1&2 1993
f. Escrig and JP. Valcarcel
and final compatibility conditions are considered.
In other words, we guarantee the geometry for
both folded and expanded positions. However
these conditions, which are of course necessary,
are not sufficient, the structure goes through in ter-
Figure 33
Figure 34
mediate stages in which it has to be forced with an
energy input. From the point where the incom-
Patibility is largest, the structure returns the stored
~ne rgy by folding or unfolding and then remain-
Jng in one of the limiting positions (the only ones
With a compatible design). lf the bars are not
exceedingly rigid, this may be advantageous since
Self-stabilizing structures can be obtained.
The adjustment of a three-way grid on a sphere
~ay be achieved in severa! ways, basically by pro-
Jecting onto a spherical surface a grid contained in
the equatorial plane, originating from a focus on
the polar axis of the sphere. Depending on the
lntenwtional Journal of Space Structures Vol. 8 Nos. 1&2 1993
position ofthe grid, structures as in Figures 37 and
38 will be obtained. It is advisable to choose the
focus so that the bar lengths are as similar as poss-
ible. Figure 39 shows a six-frequency grid obtained
by projection of a triangular mesh placed in the
o-
:::-1"-::
\r 1 \
' f\
j \
\ V
,... l
V
-<:::
r.l......_ ....----1 ~
Figure 35
equatoríal plan from a focus placed on the bottom
of the sphere.
1 O. GEODESIC GRIDS
To minimize distortion of two- or three-way grids
over a sphere, geodesic polyedra can be used.
Deployable grids are in this case obtained by sub-
stituting every edge of a polyhedron by scissors
satisfying the compatibility conditions. Moreover
the upper and lowcr nades are aligned to the cen-
tre ofthe sphcre. Polyf-I edra bascd on any polygon
and any subdivision arder may be used.
In intermediate stages, this type of grids has the
same incompatibility problems previously des-
cribed. Energy input is rcquired for folding or
unfolding, but it will be later returned for stabiliz-
ing thc whole.
79
 Geometry of Expandable Space Structures F Escrig and J. P. Valcarcel

Low subdivision frequencies satisfy the com-

patibility conditions in the extreme stages but go
through incompatible stages. Subdivision fre-
quencies higher than three do not comply with the
initial conditions but require less energy in the
intermediate stages.
Expandable grids built from an icosahedron
are shown in Figure 40 with a frequency of four.
Table 1 shows lengths necessary to build the
icosahedron with radius l. Figures 41 and 42 help
to interpretate the table. Figure 43 shows three
stages of the same model.
Ziegler (Ref. 14) first reported the construction
and patent of an icosahedric geodesic structure.
Compatibility problems were solved by devices
which increase the degrees of freedom of the
whole.

Figure 36

Figure 39

Perez Piñero, who also pioneered their use (Refs.

12 and 13). They are based on eccentric elements
such as that of Figure 6. Although they are
generated from three-way grids, the elements dis-
Play two additional degrees of freedom. Therefore
Figure 40
their compatibility problems are much less serious
(to such a point, that they require additional joint which is generated at the centre of ever mod-
Stiffners ). ule. Figures 45 and 46 show sorne views of a trissor
Figure 38
Basically, curved grids can be obtained by structure built by Piñcro.
11. TRISSOR SPHERICAL GRIDS bending plane grids or by adjusting them to
geodesic polyhedra, as for scissor structures 12. OTHER GRID TYPES
Figure 37 This type of structures has been mainly studied bY (Figure 44). An additional difficulty is the triple The concepts presented with prevwus sections

Intemational Joumal o( Space Structures Vol. 8 Nos. 1&2 1993 buenzational Joumal of Space Structures Vol. 8 Nos. 1&2 1993 81
80
 F Escrig and JP. Va/caree/
Geometry of Expandable Space Structures

Table 1. Geodesic lcosahedron with Frequency Four. Length of Bars

13. ACKOWLEDGEMENTS Each chord factor is expressed in terms of the radius of the circumscribing sphere

This research has been achieved with financia! PRISMA 4 D17= .1106 027= .1060 073= .1570 074= .1478
.1478
support provided by DGICYT (Direccion Ge~eral PRISMA 4 038= .1570 048= 085 = .1570 086= .1478
PRISMA 4 019= .1106 029 = .1060 095 = .1 570 096 = .1478
de Investigacion cientifica y Tecnologica). Figure
1 has been reproduced from Ref. 10. Figures 45 PRISMA 3 017 = .1536 027 = .1444 073= .1652 074= .1546
and 46 ha ve been reproduced from Ref. 12 and 13. PRISMA 3 038 = .1689 048= .1583 085 = .1650 086= .1549
Drawings of Figures 27 and 28 belong to F. PRISMA 3 1 019 = .1570 029 = .1478 095 = .1 573 096 = .1472
PRISMA 3 2 D17 = .1570 027 = .1478 073= .1573 074 = .1472
ORTEGA ANDRADE.
PRISMA 3 2 038 = .1650 048= .1549 085 = .1689 086 = .1583
PRISMA 3 2 019 = .1536 029 = .1444 095= .1652 096= .1546
REFERENCES
PRISMA 2 017= .1683 027= .1 577 073 = .1494 074= .1413
l. CLARKE, R. C., "The kynematics of a novel deployable PRISMA 2 038= .1465 048= .1385 085 = .1677 086= .1565
space structural system". Thin In t. Conf on Space Struc- PRISMA 2 1 019= .1651 029= .1545 095= .1699 096 = .1587
tures Proceedings. Surrey 1984. E lsevier. pp. 820-822. PRISMA 2 2 D17= .1728 027= .1626 073= .1738 074= .1626
2. ESCRIG, F., "Sistema modular para le construccion de PRISMA 2 2 038= .1738 048= .1626 085= .1 738 086= .1626
estructuras espaciales desplegables de barras" Patente PRISMA 2 2 D19= .1728 029 = .1626 095= .1738 096= .1626
Figure 41
espanola num. 532117. Mayo 1984. , PRISMA 2 3 017= .1651 027= .1545 073= .1699 074= .1587
3. ESCRIG, F ., "Expandable Space Frame structures . PRISMA 2 3 038= .1677 048 = .1565 085= .1465 086= .1385
Third Jnt. Conf on Space Structures Proceedings. Surrey PRISMA 2 3 D19= .1683 029= .1 577 095= .1494 096 = .1414
1984. Elsevier. pp. 845-850.
4. ESCRIG, F., "Expandable Space Structures". Space PRISMA D1 7= .1561 027= .1481 073 = .1103 074= .1058
Structures Int. Journ. Vol. 1, num. 2. Elsevier. PP· 79- PRISMA 038= .1093 048= .1047 085 = .1583 086= .1491
91. PRISMA D19= .1547 029 = .1466 095= .1 583 096= .1491
5. ESCRIG, F. & P . VALCARCEL, J., "Introduccion a la PRISMA 2 017 = .1655 027= .1543 073 = .1501 074= .1408
geometria de las estructuras espaciales desplegables de PRISMA 2 038= .1576 048= .1484 085= .1602 086 = .1506
barras". Bol. acad. ETSA La Coruna, num. 3. Feb. 1986, PRISMA 2 019= .1738 029= .1626 095= .1 602 096= .1506
pp. 48-57. PRISMA 3 D17 = .1 738 027= .1626 073 = .1602 074 = .1506
6. ESCRIG F. & P. VALCARCEL, J., "Great Size PRISMA 3 038 = .1602 048 = .1506 085 = .1576 086= .1484
Umbrell~s solved with Expandable Bar Structures". PRISMA 3 019 = .1655 029 = .1543 095= .1501 096 = .1408
First Jnt. Conf on Lightweight Structures in Architecture. PRISrviA 4 017= .1547 027 = .1467 073 = .1583 074 = .1491
Sydney 1986. pp. 676-681. PRISMA 4 038= .1583 048 = .1491 085= .1093 086 = .1051
7. ESCRIG, F. & P. VALCARCEL, J., "Curved Expand- PRISMA 4 Dl9 = .1561 029= .1481 095 = .1103 096= .1061
able S pace Grids". Conf on Non-Conventional Structures
Proceedings. Vol. 2. pp. 157-166. Civil-Comp Press
1987 .
8. ESCRIG, F. & P . VALCARCEL, J., "Estructuras
espaciales desplegables curvas" Informes de la Con-
struccion. Madrid IET Vol. 39, Num . 393 pp. 53-71.
9. ESCRIG, F., P. VALCARCEL, J. & GIL OELAGAOO,
O., "Oesign of Expandable Spherical Grids" IASS
Simp. 1989. Madrid. 16 pp.
10. HERNANOEZ, C., "Estructuras transformables. Estran
1" Tecnologia y Construccion.n.4. 1988. Caracas PP·
103-1 18.
11. McNULTY, O., "Foldable Space Structures". First J¡¡t.
Conf on Lightweight Structures in Architecture". SydneY
1986. pp. 682-689.
Figure 42 12. P . PINERO, E ., "Materia-Estructura-Forma". Hogar Y
Arquitectura num. 40. Madrid 1962. pp. 25-30.
evidently permit a number of variants. Moreover P . PINERO, E., "Estructures reticulees". L'Architecwre
13 .
other possibilities based on different con- d 'aujourd'hui. Vol. 141 , O ec 1968. pp. 76-81.
figurations will be discussed elsewhere. Figure 47 14. ZEIGLER., U.S. Patent 4.026.31 3. May 1977.
shows a structure achieved with rhombic sub- Figure 43
division and built with only one type of strut.
lntemational Journal of Space Structures Vol. 8 Nos. 1&2 1993 83
International Journal of Space Structures Vol. 8 Nos. 1&2 1993
82
 Geometry of Expandable Space Structures

A Prototype IICiicking'' Scissor-

Link Deployable Structure
Y. Rosenfeld 1 , Y. Ben-Ami 1 and R.O. Logcher2

1
Department of Civil Engineering, Technion - Israel Institute of Technology, Haifa 32000, Israel
2
Department of Civil Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139. USA

(Received 2 March 1990; revised version received 31 May 1991)

ABSTRACT: The paper presents engineering details of a prototype scissor-link

deployable structure and outlines a systematic development approach as an
Figure 44
example of the steps involved in rea1izing a new idea. The arch-like structure
consists of multiple pairs of scissor-linked rod elements, which can be deployed
instantaneously to form a stable, spatial network and which can be collapsed to
a compact bundle of nearly parallel rods. A momentary geometric non-fit dur-
ing deployment causes large displacement bending or buckling and a self-
stabilizing "clicking" effect which facilitates full deployment, and leaves the
structure with no residual interna! stresses after deployment. The paper con-
eludes with recommendations for further experimental work on the subject.

1. INTRODUCTION locking devices are required for its being self-

In a previous paper on the subject in this journal,
by Rosenfeld and Logher 1, it was argued that
Figure 46 reliability and simplicity are key factors in the
Figure 45
acceptance of an innovative idea in the real
world.
This paper is accordingly aimed at two objec-
tives: (a) to present reliable engineering details of
a prototype, scissor-link deployable structure, and
(b) to outline a systematic development approach
as an example of the process of realizing a new
idea.
This work constitutes an experimental project:
designing, detailing, and assembling a full-scale
rnodel of a new type of deployable-collapsible
structure, characterized by a network of multiple
scissor-linked rod elements, which can be instan-
taneously deployed into a final self-supported/
self-stabilized form, through a unique "clicking"
rnechanism. No interna! stresses are left within
the structure in its erected state, and no externa!
Figure 47
lnternational Journal of Space Structures Vol. 8 Nos. 1&2 1993
Jnternational Journal of Space Structures Vol. 8 Nos. 1&2 1993
84
supporting. By reversing the deployment sequence,
the structure can be instantaneously folded into a
compact bundle of nearly parallel rods. The
"click" occurs dueto a momentary geometric non-
fit among sorne parts of the structure during the
switch between the two stable states - either fully
deployed or completely folded.
Other interesting and challenging aspects ofthe
structural design and the analysis of such struc-
tures, are reported elsewhere 2.3.
2. THE CRUCIAL ROLE OF ENGINEERING
DETAILS
The engineering details of the hubs, pivots, and
hinges ofkinematic space structures, proved to be
crucial to the functioning of a full-scale prototype.
Their successful precision design required a com-
bination of creative thinking, analytical approach,
and great patience for experimentation. This can
probably explain the stagnation, for nearly three
85