Structural and Multidisciplinary Optimization (2019) 60:2417–2430

https://doi.org/10.1007/s00158-019-02331-6

RESEARCH PAPER

Quasi-static analysis and multi-objective optimization for tape

spring hinge
Hongling Ye 1 & Yang Zhang 1 & Qingsheng Yang 1 & Bing Zhang 2

Received: 1 March 2019 / Revised: 1 May 2019 / Accepted: 7 June 2019 / Published online: 188 July 2019
# Springer-Verlag GmbH Germany, part of Springer Nature 2019

Abstract
Mechanical attributes of interest are always mutually exclusive in the design process of tape spring hinge. Here we present a
complete optimization framework consisting of computational mechanics, optimization design, engineering application, and
experimental research to compromise mechanical attributes such that an optimal solution set can be obtained to provide design
strategies for engineering practices. Tape spring hinge in folding and unfolding processes with large non-linearity is firstly
simulated using quasi-static analysis technique. During the quasi-static process, the ratio of kinetic energy to strain energy is
observed to determine mass scaling parameters that measure the precision of analysis. Based on the parameters analyzed,
moment-rotation responses of tape spring hinge in quasi-static folding and unfolding processes are investigated and experimen-
tally verified. Yield theory derived from the combination of thin shell theory and Tresca yield criterion is introduced to control the
yield of the hinge during folding and deploying processes. In addition, tape spring hinge is released transiently when in spatial
conditions; thus the fundamental frequency is calculated and selected herein to be a measurement of stiffness that is maximized to
avoid the vibration. Then a multi-objective optimization model is established using the derived yield theory control equation and
critical moment as optimization constraints, with the fundamental frequency and strain energy as objectives. The non-dominated
sorting genetic algorithm is used to solve the optimization model, and then feasible solution distribution and Pareto frontier are
obtained. These results are compared and discussed with two additional single-objective optimizations. Ultimately we achieve
the optimal design for tape spring hinge, which is verified well with numerical simulation.

Keywords Tape spring hinge . Quasi-static simulation . Mechanical attributes . Multi-objective optimization

1 Introduction particularity of tape spring itself determines its difference in

Solar panels are in a folded state in the transport process and
need to be deployed when in space. Tape spring is an open
cylindrical shell with initial curvature. Different hinges
consisting of tape springs bear the task of connecting solar
panels. In the deployment process of solar panel, tape spring
hinge at the same time can achieve self-driving and self-
locking functions with no friction between each other. The
Responsible Editor: Emilio Carlos Nelli Silva
* Hongling Ye
yehongl@bjut.edu.cn
1
College of Mechanical Engineering and Applied Electronics
Technology, Beijing University of Technology, Beijing 100124,
China
2
Beijing Satellite Manufacturing Factory, Beijing 100190, China
mechanical properties. It has two forms of folding: when ex-
ternal load direction and initial transverse curvature direction
are consistent, the folding is positive; at the initial stage of
folding, regions near the ends form into local buckling; as
the folding continues, symmetrical local deformations move
along the longitudinal direction and then to the center region,
engendering a fold; and when external load direction and ini-
tial curvature are of the reverse, the process is reverse folding,
and local small deformation in the central region, firstly, oc-
curs; then it enters into a posterior state after the critical point,
accompanying with a stable folding. The critical point in the
reverse folding process is referred to as snap through. Tape
spring undergoes complex non-linearity during hinge folding
and deploying processes.
The investigation of tape spring hinge is developed from
single to multiple with the development of new methods.
Analytical developments on tape springs linking the rotation
angle and moment responses are firstly introduced by Wuest

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2418
(1954) and Mansfield (1973). In the recent years, the above
theory has been fully developed to understand the mechanical
behavior of the hinge. A classical shell model with large dis-
placements and large rotations is defined via a dynamic
physics-based simulation model, and the equation of steady-
state moment for the tape spring is given by theoretical deri-
vation (Seffen et al. 2000; Seffen 2001; Guinot et al. 2012;
Bourgeois et al. 2012). And later two-dimensional folding of
the hinge is extended to three-dimensional folding, and the
relationships between moment responses and curvatures as
well as torsion angle are predicted by using a variational ap-
proach (Walker and Aglietti 2004), and in order to verify the
obtained results, the experimental setup is designed to verify
analytical results of peak moment, steady-state moment, and
torsional moment (Walker and Aglietti 2006).
According to the different engineering practices, different
forms of hinge come into being. There are two main types of
tape spring hinge, as shown in Fig. 1; one form is tube hinge
which has two or three cutting slots. For example, the tube
hinge, made of composite material, is constructed with two
and three cutting slots, and moment responses are investigated
theoretically and simulated based on experimentally verified
physical models (Mallikarachchi and Pellegrino 2011; Yee
and Pellegrino 2005; Soykasap 2009). Another type of hinge
is that two, three, or more tape springs are used to form dif-
ferent layouts. For the two tape spring hinge, Santer (2010)
uses two tape springs and two straight strips to construct a
bistable jumping hinge and gives the equations of motion,
Fig. 1 Different tape spring hinges. a Tube hinge with two cutting slots
(Mallikarachchi and Pellegrino 2011). b Tube hinge with three cutting
slots (Yee and Pellegrino 2005). c Two tape spring hinge (Dewalque et al.
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H. Ye et al.
verified computationally and experimentally. Dewalque et al.
utilize quasi-static analysis for a two paratactic tape spring
layout to investigate moment and von Mises stress with re-
spect to rotation (Dewalque et al. 2016) and design a setup to
investigate the dynamic motion which is verified by finite
element analysis (Dewalque et al. 2018). For three tape spring
hinge, the three tape spring hinge is examined to determine the
maximum holding moment and minimum driving moment by
Sicre and Givois (2005). Additionally, the self-locking phe-
nomenon is studied via quasi-static analysis along with tor-
sional response within folding and deploying processes by
Hoffait et al. (2010). In order to better embody the practical
application, more attention is paid to drive performance of the
tape spring hinge for solar panel connection. The multi-body
dynamics of a solar array driven by a three tape spring hinge is
explored, with the kinematic equations obtained for the solar
panels by Kim and Park (2015). For these hinges, moments
with respect to deploying angle in deploying process are also
investigated by Sicre and Givois (2005) and Kim and Park
(2015). For the more tape spring hinge, Soykasap (2007) in-
vestigates the folding process moment of a four tape spring
hinge with a cross layout configuration computationally.
Table 1 is given to illustrate the overview of the research for
tape spring hinges. It is shown that although a tape spring
structure is simple, geometric parameters and layouts result
in drastic mechanical attribute differences. That means there
is an implicit relationship between mechanical attributes and
geometric parameters. However, response surface
2015). d Three tape spring hinge (Sicre and Givois 2005). e Multiple tape
spring hinge (Soykasap 2007)
Quasi-static analysis and multi-objective optimization for tape spring hinge 2419

Table 1 Overview of previous works

Forms Research objective Main works (findings) Yes or no optimization

Tube hinge Tube hinge • Structural design Yes (based on RSM)

• Analytical expression for linking moment and curvatures
Tape spring hinge Two tape springs • New structural design Yes (MATLAB fmincon)
• Kinematic and attribute analysis
Three tape springs • New structural design Yes (previous and present works)
• Driving and locking ability determination using
simulation and experiment
• Kinematic analysis for solar panels
More tape springs • Moment investigation with cross tape spring layout No
• New structural design and damping introduced to weaken
overshoot in deployment process
Deployable structure Collapsible boom • Structural design Yes (based on RSM and machine learning)
• Mechanical property investigation

methodology (RSM, this acronym will be used in following
parts) can be used to make the relationship explicit between
parameters and resultant mechanical attributes (Hou et al.
2012 and Hou et al. 2014). A batch of mechanical property
results of interest is obtained through a large number of de-
signs of experiment, and then based on the assumed functional
form, the parameters for explicit relationship are determined
by minimizing the deviation of the function from the experi-
ment results. On the other hand, according to different struc-
tural designs and different engineering applications, the me-
chanical performances to which attention is paid are different,
and these mechanical properties may be mutually exclusive.
In this case, a multi-objective optimization design can be used
to search for optimal results. For example, the multi-objective
optimization is used for a thin-walled structure (Yin et al.
2015). And similarly, Yang et al. optimize slot length and slot
width of the double-layer tape spring hinge on peak moment
through multi-objective optimization with a modified non-
dominated sorting genetic algorithm (NSGA-II, this
acronym will be used in following parts) based on RSM
(Yang et al. 2014 and Yang et al. 2015). Dewalque et al.
(2015) investigate the geometric influence on tape spring
hinge mechanical attributes for reflector deployment and pres-
ent an optimal procedure for minimizing the maximum stress
and motion amplitude given in deploying scenarios. In addi-
tion, multi-objective optimization is successfully applied in
deployable composite triangular rollable and collapsible
booms (Yang et al. 2018), and the machinery learning is also
employed in the optimization for the similar structure (Bessa
and Pellegrino 2018).
One expects that tape spring hinges have sufficient driving
ability; the overshoot of a solar panel, however, caused by
sufficient energy in a deploying process is likely to cause the
risk of vibration. Several method are utilized to avoid it; for
instance, Ju et al. (2012) compare three kinds of tape spring
hinge designs to decrease the overshoot using computational
and experimental methods. Meanwhile the tape spring hinge
with dampened deployment is investigated experimentally
and compared with simulated results by Dewalque et al.
(2015). For the purpose of increasing the stiffness of tape
spring hinge, here we select the fundamental frequency of tape
spring hinge to use it as optimization objective, thus avoiding
resonance within external excitation.
This article extends a recently developed optimization
framework (Ye et al. 2017a) for structural design of tape
spring hinge with quasi-static analysis and single-objective
optimization. The proposed approach here is suitable not only
for the design of tape spring hinge but also for any other
structural or material design. The extended framework in-
cludes two significant contributions: (1) detailed quasi-static
analysis for folding and unfolding processes of tape spring
hinge based on experimentally verified physical model and
(2) introducing a multi-objective optimization step after nu-
merical simulation procedure to determine optimal designs.
The first extension is significant to provide accurate simula-
tion responses for the following sample point designs and the
final optimal results. The second is essential when mechanical
attributes of interest are always mutually exclusive in the de-
sign process of tape spring hinge, at the same time considering
the yield strength in the design.
The paper is laid out as follows. Section 2 firstly explores
the different quasi-static simulation parameters and mechani-
cal property variation of tape spring hinge as well as the
deploying configurations. Based on the quasi-static parameter
influence analysis, this section also compares the bending mo-
ment performances of the tape spring hinge with the experi-
mental results. In Section 3, we establish a multi-objective
optimization model that targets strain energy and fundamental
frequency. Through the sample point design, an explicit ex-
pression between mechanical properties and geometric param-
eters is obtained and employed in the optimization model,
which is then solved using the non-dominated sorting genetic
algorithm. The obtained results are discussed and verified by
simulation. And finally a conclusion is made in Section 4.

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2420 H. Ye et al.

hl
2 Quasi-static simulation

Numerical simulation using quasi-static techniques here is y

adopted to conduct validation for the experimentally verified
physical model. Large non-linearity occurring in folding and
unfolding processes of tape spring hinge can be solved
through quasi-static simulation, while the computation in this
process is time-consuming. Therefore the mass scaling meth-
od is used to solve the problem with selection of proper pa-
rameters to assure a high efficient simulation and high-
precision simulated results.
2.1 Geometric and finite element models
The geometry of a specially designed tape spring is shown in
Fig. 2. Geometric parameters include subtended angle θ, uni-
form thickness t, radius of curvature R, length L, and the two
clamped ends with width b. These clamped ends are used to
fix the tape spring in folding and deploying mechanisms. The
material properties of a steel alloy areE = 200 GPa andυ = 0.3.
The metamodel of tape spring is constructed with L =
130 mm, t = 0.15 mm, R = 18 mm,θ = 90∘, and b = 20 mm.
Compared with a single tape spring hinge, a three tape
spring hinge possesses a smooth stress distribution and im-
proves the moment to guarantee stability of the deployable
structure. Therefore, the mechanical attributes of a three tape
spring hinge are explored in this work. This hinge is construct-
ed with two tape springs set side-by-side, with a third set in the
opposite direction between the first two as shown in Fig. 3.
The main parameters include the horizontal distance between
the centroid of the spring cross sections, recorded as hl =
32.4 mm, and the vertical distance, recorded as sl = 16 mm.
The finite element model of tape spring hinge is shown in
Fig. 4. The tape spring is meshed using a quadrilateral shell
element with four corner nodes and reduced integration (S4R)
which can deal with large deflections and small strains in
folding and deploying processes. To simulate pure bending
of the hinge, each end sets up a reference node, written as
A the folding result; another important reason is that the param-
y
z RF-2
L Ux=Uy=0
x b b URy=URz=0
A
y
t
R
sl x
o(z)
Fig. 3 Architecture of tape spring hinge
RF (similarly hereinafter), on the section centroid of the hinge.
Command *Rigid body (in module Interaction in ABAQUS)
is used to connect each reference node to the partitioned parts
of tape springs. Due to the contact between partitioned parts
and clamps, the partitioned parts are considered as rigid. For
degrees of freedom of reference nodes, RF-1 can rotate around
global axis x, and RF-2 is allowed to rotate about global axis x
and translate along the length direction of tape spring with all
other degrees of freedom fixed. For folding process, a rota-
tional displacement of 1.57 (rad) is applied on RF-1, the di-
rection of which is towards negative x-axis; an equal value and
opposite direction rotational displacement are applied on RF-
2. For the deploying process, we just reverse the two direc-
tions of displacement load to rotate the hinge back to its
straight configuration.
2.2 Quasi-static simulation techniques
2.2.1 Accuracy of quasi-static simulation
The bending and deploying of tape spring hinge involve large
deformation, warping, and snap through, resulting in a large
non-linearity in the folding process. General static solver so-
lution is not easy to converge; therefore quasi-static analysis is
to be carried out using dynamic explicit method. In the previ-
ous work, it was found that the tape spring hinge cannot be
fully deployed, and residual deformation occurs after the
quasi-static folding. The reason for this problem is that the
quasi-static simulation time of 100 s is arbitrarily selected,
resulting in an unreasonable time increment, thus affecting
eter selection is not ideal in the process of mass scale.

θ
Ux=Uy=Uz=0 RF-1
x URy=URz=0
z
Fig. 2 Geometric model Fig. 4 Finite element model and boundary conditions

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Quasi-static analysis and multi-objective optimization for tape spring hinge
Therefore here quasi-static folding time is estimated by static
frequency analysis, and the effects of different forms of mass
scale and scale parameters on the results are compared and
analyzed.
In order to obtain accurate quasi-static results, it is neces-
sary to observe the energy change throughout the process. The
energy balance of the whole system is defined as follows:
E b ¼ E i þ E v þ E k −E w ð1Þ
where Eb is energy balance; Ei is internal energy, including
strain energy and artificial energy (due to hour-glassing); Ev is
viscous energy dissipation; Ek is kinetic energy; and Ew is the
work of all external forces.
A fully integrated unit is used to avoid the local movement
of the tape spring unit; therefore artificial energy can be ig-
nored; that is, strain energy and internal energy are equal. In
order to ensure the accuracy of the quasi-static process, the
ratio of kinetic energy to internal energy is less than 1%.
The lowest mode of structure usually controls the structural
response. If the frequency of the lowest mode and the corre-
sponding period are known, the time required for appropriate
quasi-static response can be estimated. For the hinge folding
process, a frequency analysis is firstly performed to obtain the
low-order frequency, thereby obtaining the period time to es-
timate folding time; hence the definition of the overall loading
rate was initially set such that folding/deployment would oc-
cur over a time period of ten or hundred times fundamental
period; folding/deploying processes in this research are simu-
lated with 4 s.
When applying loads, the load should be as smooth as
possible to guarantee a certain loading rate, thus reducing
the number of integral iterations required to complete the anal-
ysis. There is a simple fixed amplitude type called smooth step
in ABAQUS/Explicit, which automatically produces the most
smooth load amplitude. When applying the *AMPLITUDE
definition = smooth step (in module Condition in ABAQUS)
option to define the time-amplitude data pair, ABAQUS/
Explicit automatically concatenates each data pair with first
and second derivative curves being smooth, and for this curve,
Fig. 5 Definition of smooth step [ABAQUS software 6.14 user manual
n.d]
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2421
the slope at each data point is zero. The smooth step definition
method in this paper is chosen to define the amplitude, a,
between two consecutive data points as shown in Fig.5.
This type of loading amplitude is used to perform quasi-
static analysis in the shortest possible time. Definition for
smooth step is given with a step time of 0 and 4, its corre-
sponding amplitude pairs are 0 and 1, respectively, in which
the amplitude is a proportional coefficient. In the loading pro-
cess, the real load is equal to the product of load and
amplitude.
2.2.2 Mass scaling techniques
In order to save time and increase the computational efficiency
under the premise of ensuring the accuracy of the simulation,
the quasi-static folding and deploying processes of tape spring
hinge are accelerated by an appropriate mass scaling tech-
nique. This paper mainly explores the energy response of tape
spring hinge under the two scaling methods, directly defining
the scaling factor and defining a desired steady time
increment.
For a direct definition of the scaling factorη, the entire
system unit density will be increased to ηρ; thereby the time
pffiffiffi
increment will increase to ηΔt, where Δt is the estimated
time increment, and the expression of which is shown in the
literature (Belytschko et al. 2014). The variation of the strain
energy and kinetic energy curves of tape spring hinge under
three different scale factors is compared in Fig. 6. It can be
seen that the kinetic energy corresponding to different scale
factors is kept at a small value throughout the process, but
when the scale factor is 100, the kinetic energy fluctuates
and exceeds strain energy from 7.4 to 8 s. From the perspec-
tive of kinetic energy, it is the factors of 400 and 900 whose
results are relatively stable. For the strain energy, the curves of
the three scale factors are basically coincident. Figure 6(d)
shows the CPU calculation time corresponding to three scale
factors. It is found that the computation time is shortened with
the time increment increased proportionally. The scaling fac-
tors 400 and 900 have fully deployed tape spring from the
configurations in the deployed state, while there is consider-
ably huge residual deformation corresponding to the scaling
factor 100. Meanwhile, compared with factor 400, residual
stress is a little higher for factor 900. Therefore factor 400 is
selected as the optimal scaling factor with high accuracy and
calculation efficiency.
Another way to scale is to define a desired unit-unit settling
time increment, denoted by dt. As shown in Fig. 7, it gives
kinetic and strain energy variations under three different dt
conditions. From Fig. 7, for dt = 5e − 5, it is obvious that the
results are distorted; kinetic energy changes even more than
the strain energy. For the other two cases, the kinetic energy
and strain energy curves are almost stable in the folding
2422
Fig. 6 Energy variations with different scaling factors. a Scaling factor is 100. b Scaling factor is 400. c Scaling factor is 900. d CPU time with scaling
factors
process. However for dt = 5e − 7, kinetic energy in the
deploying process has a large distortion from 6.5 to 8 s, indi-
cating an invalid result. From the CPU computing time in Fig.
7(d), the dt = 5e − 7 corresponds to a calculation time of more
than 10 h. Though the dt = 5e − 5 has short calculating time, it
is obvious the full deployment configuration has residual de-
formations. Since the multi-objective optimization process in-
volves the calculation of a large number of sample points,
considering the efficiency and accuracy, therefore the results
corresponding to dt = 5e − 6 are reasonable.
The two kinds of scaling methods are combined to carry
out quasi-static folding analysis of tape spring hinge. That is,
the scale factor is 400 and the expected settling time increment
is 5e − 6. When the two are acting at the same time, the spec-
ified scaling factor causes the mass of all units in the model to
be enlarged 400. If any unit stabilization time increment is still
below 5e − 6 after the scaling of factor 400, then the mass
scale is used to make settling time equal to 5e − 6.
2.3 Moment variation in quasi-static simulation
and experimental verification
To validate the finite element models described earlier in this
study, experiments are conducted on a three tape spring hinge.
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H. Ye et al.
The experimental apparatus consists of an active driving shaft
fixed to a rigid base and a passive driving shaft mounted on a
slide way. The drive shaft limits all rotational degrees of free-
dom in order to achieve pure bending. The slide way provides
a way to guide the horizontal motion of tape spring during
folding. The experimental platform can be seen in literature
(Ye et al. 2017b).
Based on parameters in the quasi-static analysis in the pre-
vious section, the bending moments of tape spring hinge dur-
ing folding and unfolding are shown in Fig. 8. Snap through of
tape spring hinge is a transient process; to show the process
more clearly, bending moment of the buckling part is enlarged
as shown in Fig. 8. The moment variation for the folding
process is roughly divided into three phases: the sharp rise
of bending moment (OA), the rapid decrease of bending mo-
ment after buckling (AB), and the stable phase of bending
moment (BC). For the bending moment in the unfolding
phase, the bending moment (E) corresponding to the snapback
is inconsistent with the folding process (A), which is called the
hysteresis phenomenon. The sieged area of two curves due to
hysteresis measures the driving ability of tape spring hinge.
The overall variation of bending moment curve is consistent
with that of the classic bending moment, which is described in
our previous work (Ye et al. 2017a).
Quasi-static analysis and multi-objective optimization for tape spring hinge 2423

Fig. 7 Energy variations with different time increments. a Time increment is 5e − 5. b Time increment is 5e − 6. c Time increment is 5e − 7. d CPU time
with time increments

Tape spring hinge is experimentally verified during the
unfolding process; the experimental process of bending mo-
ment was recorded every ten degrees, as shown from the red
curve with a triangle symbol in Fig. 8. The steady bending
moment is roughly a straight line, and the overall value is less
than numerical simulation results, which is due to friction
between the slider and the guide rail during the experiment.
Due to large non-linearity and mass scale in the quasi-state
process, the hinge oscillates back and forth after buckling.
Therefore, the bending moment in the stable phase fluctuates
to a certain extent during the folding (BC) or unfolding (CB)
processes. In processing bending moment, averaging is used

Fig. 8 Profile of moment in 18000

quasi-static simulation and
experiment Experiment,Deploying Folding Deploying
15000
16000 O C
12000 A
Moment [Nmm]

12000 Folding
Deploying

A B
Moment [Nmm]

E
8000
9000
4000
B C B E
6000 0 O
0 2 4 6
Rotation [◦ ]
C O
3000

0 15 30 45 60 75 90
Rotation [◦]

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2424
to obtain and analyze steady moment. For different hinge de-
signs, the fluctuation of stable phase cannot be controlled;
therefore the randomness is larger in the average processing
of data. In order to optimize the design, steady bending mo-
ment is not chosen as the objective for multi-objective opti-
mization. Instead now it is replaced by another indicator,
strain energy, which also measures the driving ability of tape
spring hinge.
3 Multi-objective optimization
A multi-optimization framework considering yield strength is
investigated in this section based on the results obtained in the
aforementioned simulation process. Mechanical attributes of
interests are always mutually exclusive when in structural de-
sign. One, therefore, can achieve the optimal results by using
the multi-objective approach presented here.
3.1 Establishment of optimal model
Since an experimental device cannot obtain stress of tape
spring hinge during experiment, numerical simulation tech-
nology is adopted to extract the maximum stress of tape spring
hinge during bending and folding processes. And then re-
sponse surface methodology is used to establish the expres-
sion between variables and stress function, which is the con-
straint for optimization model. It should be stressed that the
stress obtained from simulation is not verified experimentally.
Therefore the stress constraint is replaced by a theoretical
function. The large non-linearity exhibiting in the folding pro-
cess of tape spring hinge can easily lead to material yield and
then cause the hinge failure. In order to solve this problem, the
yield theory in the hinge folding process is used, which can be
artificially controlled in the design process. Seffen and
Pellegrino (1997) derive the yield theory and obtain the con-
trolled equation to restrict material yield in folding of hinges;
meanwhile the theory is also well applied to solve yield prob-
lems (Yao et al. 2011). The equation is cited here to be the
constraint function, which is written as
R E
≥ ð2Þ
t ð1 þ μÞσs
where R and t are geometric parameters of tape spring, E and
μare material properties, and σsis yield stress of the material.
The structure of tape spring is simple, but any change in its
geometric parameters will affect the hinge drive capability and
locking capacity. The response surface methodology is aimed
at constructing a response surface between variables and func-
tions; however the surface can involve few variables for the
sake of drawing a response surface. With the increase of var-
iables, sensitivity analysis method needs to be used to find the
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H. Ye et al.
two main influence parameters to construct the surface, while
this will increase the computational cost. In addition, the in-
teraction between variables may lead to large changes in me-
chanical properties of the hinge; if only two parameters are
analyzed, then some feasible designs may be missed.
Therefore, the four geometric parameters of tape spring are
all chosen as design variables.
In order to obtain the optimal design of a hinge structure,
the strain energy accumulated in the hinge bending process is
selected as the objective, and the energy is maximized when
the geometric parameters of tape spring are changed to obtain
sufficient energy that deploys solar panels. For another thing,
as mentioned in Section 1, several methods are utilized to
avoid vibration of tape spring hinge; fundamental frequency
here is selected as optimization objective which is maximized
to increase stiffness. In addition, the hinge is automatically
locked by its own structural features after deployment, in or-
der to resist outside interference; we hope that the larger the
value of critical moment, the better. However, subsequent
problem is that when critical bending moment is larger, the
external load required for folding tape spring hinge increases,
and excessive external loads may cause damage to the tape
spring. Therefore, the critical bending moment is given an
upper limit, but it can still have a certain ability to resist ex-
ternal disturbances with its lower limit (Sicre and Givois
2005). At this point, optimal model of the hinge is obtained as
8
> find x∈En
>
>
> max se
<
max f xi ≤ xi ≤ xi ði ¼ 1; ::::; nÞ ð3Þ
>
> 0
≥
>
> s:t: f 0
:
CM ≤ cm≤ CM
where se is the function of maximum strain energy with re-
spect to design variable, f represents fundamental frequency,
cm is the function of critical moment at the time of folding, xi
and xi are upper and lower limits of the design variable, Enis
the design of variable space, n is the number of design vari-
ables, and f0is defined as deformation form of the yield control
(2) obtained under the yield condition of Tresca: f0 = R/t − E/
(1 + μ)σs.
3.2 Polynomial fitting
RSM, used to obtain the relationship between the input and
output of complex systems, is a collection of mathematical
and statistical techniques (Box and Wilson 1951; Sui and Yu
2011; Fang and Horstemeyer 2006) and applied widely in
engineering optimization process (Guo et al. 2013; Liu and
Day 2008; Li et al. 2011 and Li et al. 2013; Qi et al. 2012).
Typically, RSM constructs an approximation model that pro-
vides an explicit relationship between design variables and the
response of interest using first- or second-order models in
Quasi-static analysis and multi-objective optimization for tape spring hinge 2425

form of linear or quadratic polynomial functions. In the mod-
el, the undetermined coefficients are calculated by the method
of least squares.
The function chosen in this paper is the full quadratic poly-
nomial of the design variable; the basic form is
n n−1 n n
F ðxÞ ¼ a1 þ ∑ aiþ1 xi þ ∑ ∑ aij xi x j þ ∑ aii x2i
i¼1 i¼1 j¼iþ1 i¼1
where F(x)is the approximation of the true response function
g(x), and values of a are undetermined coefficients.
The design range of the design variable is 0.12 ≤ t ≤
0.20 mm, 60∘ ≤ θ ≤ 100∘, 14 ≤ R ≤ 22 mm, and 90 ≤ L ≤
130 mm according to engineering practice and assuming that
xi expresses variables as [x1, x2, x3, x4] = [t, L, R, θ]. Due to the
large number of design variables, if the full-factor sample
point design is adopted, the calculation of sample point re-
sponse will be greatly increased. At the same time, in order
to meet the accuracy of fitting function, the Box-Behnken
sample point design (BBD) method (Box and Wilson 1951)
is used. The advantage of this method is that each factor has
only three levels, namely, 0, 1, and – 1; therefore, the factors
are less, where 0 is the center point and + 1 and − 1 are the
corresponding high and low values, respectively. The sample
points are coded as shown in Table 2. Maximum strain energy,
ð4Þ critical bending moment, and fundamental frequency response
values corresponding to different structure designs are also
listed in Table 2.
Response surfaces of data in Table 2 are fitted by
MATLAB to obtain functions of strain energy and critical
moment as
seðL; R; t; θÞ
¼ 0:091L2 −1:332LR−47:106Lt−0:139Lθ þ 5:438R2 þ 624:392Rt
þ 1:681Rθ þ 118477:1t 2 þ 337:344tθ þ 0:112θ2 þ 17:704L−231:996R
−50490:4t−64:599θ þ 6093:697
ð5Þ

Table 2 Sample point design

Box-Behnken design Actual values of sample points Responses of Responses of Frequency
for sample points critical moment strain energy (Hz)
(N mm) (mJ)
t L R θ t L R θ
(mm) (mm) (mm) (∘)

0 −1 −1 0 0.16 90 14 80 7088.3 1008.26 307.48

0 −1 1 0 0.16 90 22 80 36,106.0 1658.29 474.01
0 1 −1 0 0.16 130 14 80 6873.9 955.98 170.52
0 1 1 0 0.16 130 22 80 32,693.7 1179.75 268.48
−1 0 0 −1 0.12 110 18 60 5435.4 312.93 162.03
−1 0 0 1 0.12 110 18 100 19,309.6 693.68 424.05
1 0 0 −1 0.2 110 18 60 12,770.0 1389.32 165.14
1 0 0 1 0.2 110 18 100 41,866.1 2849.58 436.03
0 −1 0 −1 0.16 90 18 60 11,033.6 770.63 224.89
0 −1 0 1 0.16 90 18 100 28,712.3 1731.26 583.17
0 1 0 −1 0.16 130 18 60 7961.7 710.59 124.63
0 1 0 1 0.16 130 18 100 27,778.4 1448.47 331.31
−1 0 −1 0 0.12 110 14 80 4108.8 432.15 221.78
1 0 −1 0 0.2 110 14 80 12,390.5 1910.20 226.21
−1 0 1 0 0.12 110 22 80 21,317.2 610.98 345.4
1 0 1 0 0.2 110 22 80 48,047.8 2488.64 352.87
−1 −1 0 0 0.12 90 18 80 14,185.8 532.20 390.26
1 −1 0 0 0.2 90 18 80 25,162.6 2225.71 398.66
−1 1 0 0 0.12 130 18 80 9482.8 461.90 219.41
1 1 0 0 0.2 130 18 80 19,164.4 2004.67 222.51
0 0 −1 −1 0.16 110 14 60 3226.8 685.84 127.08
0 0 −1 1 0.16 110 14 100 11,972.2 1314.72 328.55
0 0 1 −1 0.16 110 22 60 15,211.1 840.05 198.86
0 0 1 1 0.16 110 22 100 49,832.6 2006.72 508.21
0 0 0 0 0.16 110 18 80 17,575.8 1080.32 289.5

Content courtesy of Springer Nature, terms of use apply. Rights reserved.

2426 H. Ye et al.

cmðL; R; t; θÞ
combining the fitting functions are 0.987 and 0.968, respec-
¼ −0:4071L2 −9:994LR−404:747Lt þ 1:336Lθ þ 166:577R2 þ 28826:39Rt
tively, and the mean square root difference is 0.079. The com-
þ 80:863Rθ þ 444836:5t2 þ 4756:838tθ þ 2:363θ2 þ 150:97L−12696:5R
−818994t−2225:78θ þ 217853:7
plex correlation coefficient, the modified complex correlation
coefficient, and the root mean square of strain energy are
ð6Þ
0.999, 0.997, and 0.026, respectively. The complex correla-
f ðL; R; t; θÞ tion coefficient, the modified complex correlation coefficient,
¼ 0:04796L2 −0:2143LR−1:6563Lt−0:0948Lθ−0:2531R2 þ 4:7499Rt and the root mean square of fundamental frequency are 0.999,
þ 0:3371Rθ þ 195:573t 2 þ 2:7719tθ þ 0:01628θ2 −3:19L þ 20:9152R 0.997, and 0.028, respectively. It indicates that the fitted crit-
−107:4583t þ 8:0085θ−214:5229 ical moment and strain energy functions satisfy the response
ð7Þ precision requirement.

In order to verify the accuracy of the fitted constraint func-

tion and objective function, the complex correlation 3.3 Solutions for multi-objective optimization
coefficientR2 and the modified complex correlation coeffi-
cient R2adj as well as the root mean square error (RMSE) are 3.3.1 Solution to optimal model
introduced, expressions of which are expressed as (8–10). The
Before multi-objective optimization (MOD), two single-
closer the complex correlation coefficient and the modified
objective optimizations (SOD) are carried out with strain en-
complex correlation coefficient are to 1, the closer the root
ergy and fundamental frequency as objective, respectively.
mean square error is to 0, and the higher the accuracy of
The obtained results are pictured in Fig.9, and the values of
fitting.
results are listed in Tables 3 and 4. In the process of multi
m  2 m  2
objective optimization, the objective is in the form of sum of
R2 ¼ 1− ∑ yi −~yi = ∑ yi −y ð8Þ
i¼1 i¼1 objective component, as depicted in (11):
m−1   s ðObjÞk  ωk
R2adj ¼ 1− 1−R2 ð9Þ Obj ¼ ∑ ð11Þ
m−p−1 k¼1 Fk
  2 0:5
m
RMSE ¼ ∑ yi −~yi =ðm−p−1Þ ð10Þ where k(k = 1, ..., s) represents the kth objective; sis the total
i¼1 number of objective, in this paper, it is equal to 2; ωkis corre-
sponding weight coefficient; and Fk represents scale factor. As
where p is the number of non-constant terms in the RS model, can be seen in Table 4, the obtained strain energy and funda-
m is the number of sample points. yi is the measured function mental frequency from single optimization have different
value at the ith design point, ~yi is the function value calculated magnitude. Scale factors, therefore, are set to 2000 and 400
from the polynomial at ith design point, and y is the mean for strain energy and fundamental frequency, respectively, and
value of yi. The data in Table 2 are substituted into the above all two weight coefficients are equal to 1. And then the
formula, and the complex correlation and modified complex NSGA-II algorithm is used to solve the multi-objective opti-
correlation coefficients of critical moment obtained by mization model, where initial population size of the given

2500 2400
Feasible design
SOD-frequency Pareto frontier
SOD-strain energy
2000 Pareto frontier
Strain energy / [mJ]

2000
Strain energy / [mJ]

1500

1600
1000

1200
500

200 400 600 475 500 525 550

Frequency / [Hz] Frequency / [Hz]
Fig. 9 Distribution of feasible solutions and Pareto frontier

Content courtesy of Springer Nature, terms of use apply. Rights reserved.

Quasi-static analysis and multi-objective optimization for tape spring hinge 2427

Table 3 Optimal results of geometric parameters
Designs L R t θ
∘ hinge have sufficient resistance to external interference,
mm mm
SOD (se) 90.0 15.385 0.20
SOD (f) 90.0 18.221 0.12
MOD 90.082 14.573 0.189
genetic algorithm is 40 and the number of generation is 50.
Initial design point is the midpoint value of the variation range
of each design variable. In order to ensure that tape spring
hinge will not yield during bending and folding processes,
the upper limit of yield stress given to material is 2000 MPa.
After 2000 calculations, the feasible solution distribution of
the mechanical attributes for tape spring hinge under this con-
straint was finally obtained, as shown in Fig. 9.
3.3.2 Result discussion
In Fig. 9, the green mark, double cross, indicates feasible
solution; the orange sphere mark indicates Pareto frontier;
and the two triangular marks, respectively, represent two
single solutions from single-objective optimization. As
can be seen from Fig. 9, feasible solution is distributed
on one side of the Pareto frontier. In order to clearly
display the Pareto frontier, it is enlarged separately on
the right of Fig.9. It can be seen that the two objective
functions exhibit a negative correlation change. Therefore,
when performing single-objective optimization, the two
single-objective solutions are respectively at both ends
of the Pareto frontier, which can provide the design refer-
ence for engineering practice. For this paper, one of the
optimal solutions of the Pareto frontier will be discussed
and compared with the results from the single-objective
optimization such that the design framework could be
verified theoretically.
Mechanical properties obtained by single-objective op-
timization and multi-objective optimization under the
same constraints are listed in Table 4. It is found that
strain energy is maximized to reach 2305.8 mJ, and the
maximum fundamental frequency reaches 572.86 Hz.
When multi-objective optimization is performed, the
strain energy and fundamental frequency are compro-
mised. At the same time, in order to make tape spring
mm
we give the upper limit of optimization constraint of
87.97 20000 N mm. It is found that both of single-objective
100.0 optimization and multi-objective optimization process all
99.836 meet the constraints. The second constraint is the yield
control equation, which is transformed into (12), and
stress is inversely derived from the equation through the
obtained optimal structural design. From Table 4, stress
constraint condition is satisfied in both single-objective
and multi-objective optimization cases.
0
f 0 ¼ R=t−E=ð1 þ μÞσs ⇒σs ¼ E=ð1 þ μÞðR=t−f 0 Þ ð12Þ
Next the multi-objective optimization results are re-
modeled and analyzed, and the obtained mechanical prop-
erties are compared as shown in Table 5. It can be found
that the optimal solution by response surface methodology
and numerical simulation results have relatively small er-
rors that are less than 5%, thus verifying correctness of
the optimization model. Configurations and contour of
stress distribution of tape spring hinge in fully folded
and full deployment states are shown in Fig.10. It is worth
noting that the maximum stress exceeds 2000 MPa in
fully folded configuration, and stress concentration occurs
on the central region of the middle tape spring hinge. It
may be caused by geometric parameters that are re-
modeled using the rounding method that causes rounding
errors. But on the whole, the stresses on the positive fold-
ing tape springs meet the stress requirements and are
evenly distributed. At the same time, it can be seen from
complete deployment of hinge that residual stress is small.
A noteworthy point is the magnitude of fundamental
frequency, the mechanical property of interest. We find
that optimal result fundamental frequency is 480.55 Hz,
and it seems to be difficult for external excitation to reach
this frequency to cause resonance of the hinge. The hinges
referred to herein have a maximum length of 130 mm,
which is relatively small compared with the whole solar
panel system that can reach a level of meter. According to
maximum size, the total approximation mass of tape
spring hinge is about 21 g; therefore the obtained

Table 5 Comparison between optimal design and FEA result of optimal

Table 4 Optimal results of mechanical properties design
0
Designs se f CM f0 σs Designs CM f se
mJ Hz N mm – MPa N mm Hz mJ

SOD (se) 2305.8 408.06 20,000.0 0 2000.0 Optimal design 19,746.0 480.55 2287.7
SOD (f) 841.99 572.86 20,000.0 74.921 1999.84 FEA result 20,619.5 473.32 2237.84
MOD 2287.7 480.55 19,746.0 0.17874 1999.90 Error (%) 4.43 − 1.50 2.18

Content courtesy of Springer Nature, terms of use apply. Rights reserved.

2428
Fig. 10 Stress distribution of OS
frequency value is large, while the fundamental frequency
reaches to maximum under a series of constraints, indicat-
ing at least the accuracy and applicability of RSM opti-
mization. Subsequent researches will be considered to es-
tablish a model of the entire solar panel with tape spring
hinge connection for frequency calculation or to calculate
fundamental frequency of the hinge by adding mass
points.
Fig. 11 Flowchart of structural
design for tape spring hinge
Content courtesy of Springer Nature, terms of use apply. Rights reserved.
H. Ye et al.
3.4 Flow chart of hinge optimization design
According to the analysis method of the study, the flow chart
of hinge optimization design is shown in Fig. 11. The structure
of Fig. 11 is inspired by literatures (Bessa et al. 2017; Bessa
and Pellegrino 2018; Yang et al. 2018); it displays how re-
sponse surface methodology is employed in the structural de-
sign of tape spring hinge. The word discrepancy and
Quasi-static analysis and multi-objective optimization for tape spring hinge
agreement are used here to describe the result comparison
between optimal design and remodeled simulation result,
which is presented in Table 5.
4 Conclusions
Mechanical attributes of tape spring hinge are investigated in
this paper using quasi-static simulation and experimental
methods. Quasi-static numerical simulation technology is in-
troduced in this research, and we conduct a sensitivity analysis
to investigate the consequence that the different scaling types
and scaling parameters in quasi-static process have on me-
chanical properties of tape spring hinge. The quasi-static pro-
cess is deemed accurate when the ratio of kinetic energy to
strain energy is less than 1%. Here to ensure high computa-
tional efficiency and accuracy, the quasi-static simulation pa-
rameters are given with a scaling factor of 400 and defining
time increment of 5e − 6. Based on the parameters obtained,
we study the variations of mechanical properties of bending
moment of the hinge, which is compared and verified exper-
imentally using the specific setup in the unfolding phase.
The intension of the multi-objective optimization problem
is to control the deployment responses of tape spring hinge by
considering its geometric parameters as design variables.
Strain energy accumulated in the hinge bending process is
selected as the objective, which is maximized to obtain suffi-
cient energy that deploys solar panels. And fundamental fre-
quency in this research is selected as an optimization objective
which is maximized to increase stiffness. Folding process of
tape spring hinge involves a large non-linearity, causing ex-
cessive stress leading to material yield, thus resulting in failure
of tape spring hinge. Therefore, the developed open cylindri-
cal shell yield control equation based on the shell theory is
introduced as a parameter optimization constraint equation. In
addition, it is expected the larger the value of critical moment
that measures the ability of hinge to resist outside interference,
the better. However, when the critical bending moment is
larger, the external load required for folding tape spring hinge
increases and thus causes damage to the tape spring.
Therefore, the critical bending moment is selected as an opti-
mization constraint and given an upper limit, but it can still
have a certain ability to resist external disturbances with its
lower limit.
The feasible solution distribution and Pareto frontier of the
multi-objective optimization model are obtained through the
NSGA-II algorithm, which are discussed in detail. Two addi-
tional single-objective optimizations are carried out and com-
pared with the results of multi-objective optimization. It is
found in comparison that constraints in both single- and
multi-objective optimizations are satisfied. And then one of
the optimal solutions is selected and remodeled to verify the
feasibility of the whole method to optimize tape spring hinge,
Content courtesy of Springer Nature, terms of use apply. Rights reserved.
2429
and optimal solution has a geometry of L = 90.1 mm, R =
14.6 mm, t = 0.19 mm, and θ = 99.8∘. In addition, the funda-
mental frequency is discussed with expectation that the whole
solar panel model or adding mass point may be adopted to
simulate the real working condition as the next step.
Ultimately, the flowchart inspired by literatures is drawn to
give a guideline so that detailed steps can be employed in
practical practices. The computational and optimal strategies
here presented are general and can be applied to different
problems in structural or other relevant material design, with
the potential of finding optimized designs within design
spaces.
5 Replication of results
All original data are included in this manuscript and the ob-
tained results can be replicated. No additional data and code
are appended.
Funding information This work was supported by the National Natural
Science Foundation of China (11872080, 11172013), Beijing Natural
Science Foundation (3192005), and Beijing Education Committee
Development Project (SQKM201610005001).
Compliance with ethical standards
Conflict of interest The authors declare that they have no conflict of
interest.
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