Mechanism and Machine Theory 164 (2021) 104402

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Mechanism and Machine Theory

journal homepage: www.elsevier.com/locate/mechmachtheory

Research paper

Geometric and analytical design of angulated scissor

structures
Najmeh Faghih Dinevari a, Yaser Shahbazi a,∗, Feray Maden b
a
Architecture and Urbanism Department, Tabriz Islamic Art University, Tabriz, Iran
b
Department of Architecture, Yasar University, Izmir, Turkey

a r t i c l e i n f o a b s t r a c t

Article history: Deployable scissor structures are capable of large geometric transformations between pre-
Received 20 December 2020 defined configurations thanks to their extension and rotation properties. These structures
Revised 9 May 2021
are formed by connecting translational, polar or angulated units that are composed of
Accepted 12 May 2021
scissor-like elements. The studies especially on the angulated scissor structures mostly
Available online 5 June 2021
concentrate on developing certain types of planar or spatial structures; thus, they do not
Keywords: present a systematic form-finding method for different types of angulated units lying on
Deployable structures different path-curves. This paper aims to introduce two design methods including geo-
Scissor structures metrical method based on drawings and analytical method based on mathematical equa-
Angulated unit tions both for generating various angulated scissor structures and facilitating the design of
Geometric design asymmetric and polycentric structures. First, basic design principles of the angulated scis-
Analytical design sor structures are investigated. Then, proper solutions are proposed to design such planar
structures using both geometrical and analytical methods. Various planar angulated scis-
sor structures are generated lying on monocentric and polycentric curves or straight-line
in the deployed, fully deployed, and undeployed configurations. Finally, a case study as a
numerical model of a sunshade with monocentric curve is presented.
© 2021 Elsevier Ltd. All rights reserved.

1. Introduction

Deployable structures can change their shapes from a compact state to an expanded shape to meet the changing needs.
The origin dates back to ancient times, but these structures were developed from the first modern steps of the mobile
theater designed by Pinero in 1961 [1,2]. Deployable structures have several types such as scissor structures, foldable plate
structures, Smembrane, and cable-strut structures. Among these, scissor structures composed of scissor-like elements (SLEs)
are the most common type applied in architecture and engineering.
A deployable scissor structure encompasses a kinematic linkage of scissor units in which the units consist of two struts
interconnected at an intermediate point by a pivot entitled “scissor hinge.” This hinge allows them to rotate about the
normal plane of the unit. The hypothetical lines connecting upper and lower joints of the scissor unit are called the unit
lines. Various scissor structures can be generated by changing the location of scissor hinge, which changes the unit lines
accordingly. For the scissor units consisting of straight struts, the translational units are created if the unit lines are parallel
to each other (Fig. 1-a). If the unit lines intersect at a single point, the polar units are generated (Fig. 1-b). On the other

∗
Corresponding author.

https://doi.org/10.1016/j.mechmachtheory.2021.104402
0094-114X/© 2021 Elsevier Ltd. All rights reserved.
N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 1. Scissor units: a) translational unit; b) polar unit; c) angulated unit.

hand, the angular units are formed from angular struts with kink angles in which the unit lines intersect at a single point
(Fig. 1-c).
Using these primary scissor units, various scissor structures having different forms can be created. Since the scissor
structures have the ability to change their shapes between two predefined geometries, the hinges of the unit lie on either
a straight path or a curve path during the deployment process. However, unexpected motions may occur in the deployable
structures due to kinematic singularity. The singularity is a configuration of the mechanism in which kinematic properties
change dramatically, and it is not possible to predict subsequent behavior. In such case, the structure can either deploy along
the main path or get into the bifurcation path [3]. This singular configuration may be undesirable or potentially beneficial. In
fact, scissor structures generally have single degree-of-freedom (DOF). However, they may have new independent mechanism
modes due to the kinematic bifurcation when they fully folded or deployed [4]. For instance, a symmetric transitional scissor
linkage composed of identical bars that are connected at their mid points can be fully folded into a compact bundle. At this
state, the linkage may become stuck since the end nodes of the bars become colinear with the scissor hinge. Likewise, the
linkage reaches its bifurcation point when fully deployed. Apart from the bifurcation arises from the linkage type, it may
occur due to the joint clearance or the deformation of bars when a load applied to the structure [5]. The bifurcation may be
unavoidable if the scissor structure is composed of different sets of scissor linkages having multi-DOF. On the other hand, it
can be beneficial since it allows changing the mobility of the structures that have only single DOF.
As lightweight, mobile, and temporary systems, the deployable scissor structures can be applied in architecture, engineer-
ing, and design industry from a small scale to a larger one. For instance, toys, exposition panels, and deployable furniture
can be considered as examples of small-scale structures. The medium scales can be shown as party tents, emergency shel-
ters, building shading systems, etc. The large scales cover the stages for traveling events, retractable roofs and deployable
solar arrays [1,6–8]. With aerospace technology advancements, deployable structures have received more attention in the
aerospace industry [9,10].
The scissor structures have been mostly used in engineering as extendible boom structures, robotic manipulators, de-
ployable space masts or antenna reflectors [11–13]. On the other hand, they have been applied in architecture to serve for
different functions such as temporary shelters, retractable roofs, bridges, pavilions, exhibition halls, protective covers for
recreation facilities or sports venues [14–17]. For instance, a transportable deployable pavilion structure designed by Pinero
was built in 1964 in Madrid which was later transported to San Sebastian for a temporary usage and to Barcelona to be used
as a permanent structure [18]. The most notable application of the scissor structures developed by Escrig et al. [19] was a
deployable roof structure for San Pablo swimming pool in Seville. Built in 1994, the roof structure is composed of grids
of equal quadrilateral SLEs. Another deployable roof structure designed by Escrig was constructed in Jaén in 1999 for La
Alameda Auditorium which consists of curved bars. Designed by Atake [20], a deployable dome structure composed of 48
scissor units and a foldable bridge were realized in Hanamizuki Park in Japan in 1995. The invention of the angulated scis-
sor unit in the early 1990s by Hoberman [21] extended the application of scissor structures. Composed of angulated SLEs,
a retractable roof structure called Iris dome [22] was constructed for EXPO 20 0 0 in Hanover and Hoberman Arch was built
for the Salt Lake 2002 Winter Olympics. In 2005, a traveling pavilion designed by Hernandez [23] was built which is com-
posed of two structural modules. A spherical shell structure designed by Luis Sánchez Cuenca was realized in Gerona in
2007 [24]. Composed of 30 angulated scissor units, a 12 m scissor bridge at Jet d’Eau in Geneva was built in 2013 which
transforms from a planar configuration to a raised arch shape [25]. Aforementioned examples are the structures composed
of only scissor units, but the SLEs can also be combined with origami, membrane or cable-strut structures [26,27].
In addition to the applied examples, many studies on the scissor structures have been conducted by the re-
searchers [2,28–37]. Generally, two geometric design methods have been used to generate such structures which
are unit-based method and loop-based method [38]. In the unit-based method, either the predefined scissor units

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

are connected to each other at their end nodes to create the geometrical form or the units are determined ac-
cording to the span and the predetermined form. In the loop-based method, the scissor type is determined based
on the loops such as kite, dart, square, rectangle, rhombus, parallelogram or trapezoid which are drawn on the
path-curve.
In the existing literature, the studies on the angulated scissor structures mostly concentrate on developing new types of
planar or spatial structures using the unit-based method. The loop-based method is used less. Hoberman [21] developed a
closed loop assembly having a polygonal shape and proposed spherical and icosahedral structures. He also designed arch-
hinged, circle-hinged and ellipse-hinged structures generated by using the rhomb loops [39]. You and Pellegrino [40] dis-
covered that a series of angulated elements in Hoberman’s design forming the closed ring structure can be replaced with
a multi-angulated element since they subtend a constant angle during the expansion process. They proposed two types of
generalized angulated elements (Type I GAE and Type II GAE) allowing the production of non-circular structures. Kassabian
et al. [41] studied the GAEs and designed retractable circular and elliptical roof structures in which the multi-angulated
elements are connected to each other by cylindrical joints. To analyze the extent of foldability of the angulated scissor
structures introduced in [21,40] and to create heterogenous arrangements and multi-segmented assemblies, a kinematic
theory was presented by Patel and Ananthasuresh [42] using the algebraic equations of PRRP linkage. Cai et al. [43] an-
alyzed the mobility of GAEs with the screw theory. Chen [44] investigated the kinematic behavior of symmetrical scissor
structures with internal mechanism mode. Lu et al. [45] developed circular and hexagonal retractable roof structures formed
by multi-angulated elements which were kinematically analyzed using equilibrium matrix method. Kokowa [46] designed
a retractable loop dome structure composed of multi-angulated scissor elements. Langbecker and Albermani [47] proposed
a foldable barrel vault structure by combining angulated scissor units with transitional units. Maden et al. [48] presented
the deployability conditions and the geometric design methods of the planar scissor structures composed of identical and
non-identical elements. In that study, a partial radially deployable structure and a rectilinear structure composed of identical
angulated units were generated based on the unit-based method. In another study, Maden et al. [49] used the loop-assembly
method and proposed a transformable shelter structure composed of angulated bars which can transform from a planar
configuration to S-shaped and reversed S-shaped geometries with single DOF. Kite loops were used to create the structure.
Based on mathematical formulations, Roovers et al. [50] presented a theory to create angulated scissor structures from any
continuous surface such as helicoid, catenoid, hyperbolic paraboloid or Möbius strip. Krishnan and Li [51] presented three
methods for the geometric design formulation of axisymmetric structures generated with planar angulated scissor units. The
proposed two methods are analytical in which the developed surface and the 3d model are used whereas the third method
is based on finding the lengths of angulated bars graphically for each horizontal layer. There are also several studies that
deal with generating the structures based on the loop-based method [52–54].
In the aforementioned studies, different design approaches have been used to generate the desired geometrical forms.
Most of them present analytical methods or complex kinematic theories whereas only a few use graphical methods for the
form-finding of such structures. In this study, the aim is to introduce two design methods for the angulated scissor struc-
tures that can be used for further applications. It is intended to contribute to the literature by presenting the geometrical
method based on drawings and the analytical method based on mathematical equations which can facilitate the design of
the angulated scissor structures having straight-line path, monocentric and polycentric curves. The studies in the existing
literature are generally limited to certain types or states of the angulated scissor structures. However, a systematic process
is presented in this study which allows designers to choose any state s/he wants to create the overall geometrical form.
Using a segment angle that can be either same or different for the scissor units, various angulated structures can be built
at deployed, fully deployed or undeployed state.
The studies in [42,48,51] form the ground of this paper, but the proposed design approach is different. Presenting only
a linear arrangement of the angulated units, the graphical method in [51] is based on using isosceles trapezoids to draw
the angulated elements, and the lengths of those elements are calculated according to the defined equations. However,
in this paper two different types of linear arrangements as well as the monocentric and polycentric path curve arrange-
ments are introduced which can be generated graphically at different configurations. Even though the type I has a sim-
ilar arrangement as in [51], the graphical approach is different. In [42], heterogeneous arrangements have been created
with non-identical PRRP linkages in which the unit lines intersect at a single point during the deployment process since
the structures form closed linkages. On the other hand, polycentric angulated structures are proposed in this study which
form open chain linkages. In these structures, the angulated units lie on the polycentric curve path during the deploy-
ment process and each unit has its own center. A similar analytical method described in [48] for angulated element is
applied in this study to create the monocentric angulated structures according to given design parameters such as span and
height.
In this paper, first, the geometrical method is introduced for the angulated scissor structures having monocentric, poly-
centric or straight-line base curves in deployed, fully deployed, and undeployed states. In the second method, i.e., analytical
and mathematical equations, the internal and external curves (Rin , Re ) is formulated using the architectural parameters of
deflection (Hr ) and span (S) on which the coordinates of the points can be extracted. Geometric unknowns of the structure
consist of semi-bar of the element (a), the difference between the kink angle of element and the extension angle (β ), the
deployment angle (θ ), the distance between scissor hinge and center of the curve (m) and the vertical distance between the
hypothetical line connecting two lower joints and center of the curve (c). To determine these unknowns, it is necessary to
calculate the number of units (U) and their thickness (t ), and then to solve their system of algebraic equations accordingly

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 2. Geometric unknowns of the angulated scissor structure.

Fig. 3. Angulated scissor unit: a) angulated element; b) scissor unit and corresponding hypothetical unit lines.

(Fig. 2). It is possible to obtain the single unit of the scissor structure by calculating the unknowns and then form the entire
angulated scissor structure by multiplying the single unit.

2. Angulated scissor unit

Scissor structures can be classified as transitional, polar, angulated, and generalized angulated types based on their con-
stituent units. As shown in Fig. 3, the angulated unit is composed of two angulated elements having a kink angle (δ ) so
that the elements are divided into two semi-bars at the pivot. The segment angle (γ ) between two-unit lines always re-
mains constant and equals 360/n if the angulated scissor structure forms a complete circular ring. In this expression, n is
the number of units to form the ring provided that n ≥ 3. In this case, the kink angle equals 180 − γ . Among the four types
of scissor structures, only the angulated scissor structures can deploy within a complete planar circle due to the constant
segment angle (γ ) at all deployment steps. Depending on the deployment of constituent units of structures, the angulated
scissor structures can be investigated in three states such as deployed, fully deployed, and undeployed. Unlike the transla-
tional and the polar scissor units that are theoretically considered as a line in their fully undeployed states, the angulated
units do not turn into a line due to the geometric nature of their elements.
In the fully deployed configuration as the ultimate limit of angulated unit deployment, both ends of the element coincide
on a straight line, and its four vertices shape an isosceles trapezoid (Fig. 4-a). In most designs, the angulated scissor struc-
ture’s deployed state is considered between two ultimate limits of the deployment (Fig. 4-b). In the undeployed state, the
ends of the elements theoretically coincide to form a line. Hence, the isosceles trapezoid’s smaller base turns into a point
and forms an isosceles triangle (Fig. 4-c). However, it should be noted that the two ends cannot coincide precisely in reality
since there is a gap between them due to the configuration of the element and the structure (Fig. 4-d).

3. Form-finding of the planar angulated scissor structures

In this section, the design of the angulated scissor structure is addressed using both the geometrical method based on
drawings and the analytical method based on mathematical equations. The geometric drawing is explained based on the
base curve type, i.e., monocentric curve, polycentric curve, and straight-line for all undeployed, deployed, and fully deployed
states. The overall process of the proposed method is presented in Fig. 5. For the analytical and mathematical equations, the
nonlinear equations governing the geometry of a single module of an angulated scissor structure are formulated based on
architectural design parameters such as deflection and span.

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 4. Deployment stages of the angulated scissor unit: a) fully deployed; b) deployed; c) theoretically undeployed; d) practically undeployed.

Fig. 5. Flowchart of the form-finding of the planar angulated scissor structures.

3.1. Geometric construction method

3.1.1. Monocentric curve path (an arc of a circle)

An arc of a circle is the common curve for angulated scissor structures. The drawing is carried out by an arc of a circle
with the center O. The drawn curve is the same as the outer curve of the structure on which the upper joints are placed.

3.1.1.1. Deployed state. To draw geometry in deployed and fully deployed states, first, the unit lines are specified, which are
drawn radially by the center O. The curve is divided into n equal parts by drawing n + 1 unit lines with the same angle
called the segment angle (Fig. 6-a). Considering two consecutive unit lines, two circles of preferred radius r1 are drawn with
the centers O1 and O2 . These origins are the intersections of each unit line and the curve where the scissor unit’s upper
joints are placed. It is worth mentioning that the preferred radius is equal to the semi-bar of each angulated scissor unit
chosen by the designer based on design and construction constraints or conditions (Fig. 6-a). Depending on the radius r1 ,
the two circles may either intersect at one or two points or not intersect. If the circles intersect at two points, the point of
intersection inside the curve is to be the location of the scissors hinge of the unit. By drawing a circle with the center of the
scissor hinge and radius r1 , two new points A1 and A2 of the intersection with the unit lines are obtained, which are two
lower joints of the angulated scissor unit. The first scissor unit and its kink angle are specified by connecting the above four
points to the center of the scissor hinge (Fig. 6-b). To determine the other scissors, it is sufficient to identify their hinges
and then two farthest joints relative to the respective hinges. Scissors hinges of all the units lie on the curve with a center
O having a radius r2 . The radius r2 is equal to the distance of the initial scissor hinge to the point O. The scissor hinge of
the adjacent unit that is placed either on the right or left side of the first scissor unit is obtained from the intersection of
a circle with the radius r1 Furthermore, the center of one of the upper or lower joints of the first unit and a curve passing
through the scissor hinge of all units (Fig. 6-c). To generate a new scissor unit, it is necessary to have two remote joints.
For this purpose, it is enough to draw a circle with the center of its scissor hinge and radius r1 . It can be seen that the

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 6. Drawing a monocentric angulated scissor structure in the deployed state: a) drawing an outer curve and determining r1 ; b) determining the position
of scissor hinge and elements of the original unit; c) determining the position of scissor hinge for the adjacent unit; d) drawing elements of the adjacent
unit; e) iteration process of generating the final form; f) final form.

Fig. 7. Drawing a monocentric angulated scissor structure at a fully deployed state: a) drawing an outer curve and determining r1 ; b) positioning of scissor
hinge and elements of the original unit; c) determining the position of scissor hinge for the adjacent unit; d) drawing elements of the adjacent unit; e)
iteration process of generating the final form; f) final form.

circle intersects the adjacent unit line at the two remote joints B1 and B2 (Fig. 6-d). The ultimate form of the angulated
scissor structure can be obtained in the deployed state by iterating the steps described above to create new scissor units
(Figs. 6-e and 6-f).

3.1.1.2. Fully deployed state. As the scissor structure deploys, the scissor hinge curve approaches the outer curve. In the fully
deployed state, the distance between these two curves is minimized, and even without external constraints, it is not possible
to deploy further. In this case, the circles with radius r1 in the drawing of the first scissor, the units are tangent to each
other at only one point instead of two points of intersection. All previously described steps for the deployed state must be
exactly repeated to draw the complete geometry of the scissor structure at the fully deployed state (Figs. 7 and 9-b).

3.1.1.3. Undeployed state. The undeployed state indicates the minimum volume and size for a scissor structure. This state
is of great importance for issues such as packing, transportation, etc. Unlike the translational and polar scissor structures,

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 8. Drawing a monocentric angulated scissor structure at undeployed state: a) drawing point O and unit lines; b) drawing a circle of radius r1 as the
position of scissor hinges of units; c) drawing original scissor unit; d) determining the position of scissor hinge for adjacent unit and draw its elements; e)
iteration process of generating the final form; f) final form.

Fig. 9. A prototype of a monocentric angulated scissor structure: a) deployed state; b) fully deployed state; c) undeployed state.

which are theoretically converted into a line and become one-dimensional in their undeployed states, the angulated scissor
structure remains two-dimensional at this step and occupies an area. In this state, the inner curve passing through all lower
joints of the units converges into the point O. Knowing the point O as the convergence point of structure, the unit lines are
drawn radially from this point at identical angles, i.e., the segment angle (Fig. 8-a).
Then, a circle of preferred radius r1 with the center, O is drawn to determine the position of all scissor hinges. The
intersection points of this circle and the bisector of segment angles represent the position of the entire scissor hinges
(Fig. 8-b). Therefore, it is possible to determine the elements of the original scissor unit by drawing a circle of radius r1
with the center of the scissor hinge. The intersection points of the circle and the unit lines represent the upper joints of
the unit. Finally, elements of the original scissor unit are formed by connecting the two upper joints and the point O to
the scissor hinge. It should be noted that the lower part of both angulated elements is placed on each other (Fig. 8-c). The
adjacent scissor units in the undeployed state can be determined through the same process for the deployed state (Fig. 8-d).
The ultimate form of undeployed angulated scissor structure is obtained by repeating the steps described to achieve the
new scissor unit (Figs. 8-e, 8-f, and 9-c). As shown in Fig. 9, prototypes of a monocentric angulated scissor structure for
all undeployed, deployed, and fully deployed states are constructed. The prototypes have been made of 2 mm thick MDF
boards. Ø2.5 mm machine screws and nuts have been used to connect the scissor elements to each other.

3.1.1.4. Undeployed state with different segment angles. In previous descriptions about the drawing of angulated scissor struc-
tures, whether in the deployed, fully deployed, or undeployed states, it is assumed that segment angles are the same for all
units. It is possible to consider different segment angles or kink angles in the curve divisions. To draw an angulated scissor
structure with different segment angles, the triangle sides across the kink angle in two adjacent units must be initially equal
to each other. In other words, Eq. (1) should be satisfied, according to Fig. 10.

l12 + l22 − 2l1 l2 cos α = l32 + l42 − 2l3 l4 cos β (1)

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 10. Equal sides of the triangle across kink angle in two adjacent units.

Fig. 11. Drawing an angulated scissor structure with different segment angles at an undeployed state: a) drawing point O and unit lines; b) drawing a
perpendicular bisector of unit lines; c) iteration process of generating the final form; d) final form.

The scissor units should also converge at the center O to ensure the complete compaction of the scissor structure. By
drawing radial unit lines with different part angles from point O, the convergent points of the structure, their intersection
with the external curve and the upper joints of the units can be found (Fig. 11-a). To draw the elements of the units with
their upper and lower joints, the location of their scissor hinges should be determined. For this purpose, the perpendicular
bisectors of the unit lines are drawn. The unit’s scissor hinge is obtained from intersecting these two perpendicular bisectors,
and then the unit is resulted from connecting the upper and lower joints. The perpendicular bisector is used because the
distance between each point and its ends is the same. As a result, all four half-lengths of the unit elements are equal to each
other (Fig. 11-b). The process of obtaining adjacent scissor units until the completion of the final form of the undeployed
angulated scissor structure with different segment angles is a repetition of the steps mentioned above (Figs. 11-c and 11-d).
The corresponding prototypes of a monocentric angulated scissor structure with different segment angles are shown in
Fig. 12.

3.1.2. Polycentric curve path

In the design or application of the angulated scissor structures such as canopies based on monocentric curves, some
spatial deficiencies may occur since the structural members create a depth when expanded, which decreases the usable
interior volume. To overcome this limitation and create an angulated scissor structure that can increase the space’s overall
height without changing the rise and span, it is required to use a monocentric arc as a base curve for the structures. Fig. 13
shows a monocentric arc centered on O1 and tri-center arc centered on O2 , O3 , and O4 with the same span and rise. They
have been compared in the height of the space for coverage. In such a situation, it is faced with a multi-part base curve

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 12. A prototype of a monocentric angulated scissor structure with different segment angles.

Fig. 13. Comparison of the height of the space for coverage between monocentric and polycentric arcs.

Fig. 14. Polycentric arc of decreased radius consisted of three parts.

having a different radius. Fig. 14 shows an example of a polycentric arc consisting of three sections with a decreasing radius.
In the following, the drawing process of such a scissor structure is described using the three-center curve.
Like the monocentric scissor structure, the first step of form-finding is the drawing of unit lines. The unit lines in each
part of the curve are drawn radially from their corresponding center. It is possible to select partially identical or different
segment angles for each part of the polycentric curve. By drawing n unit lines, the entire polycentric curve is divided into
n + 1 equal sections (Fig. 15-a). As a case study, in Fig. 15-a, the first and second parts are divided into two from the left
while the third part remained one part. It should be noted that each part itself has the same segment angle, and the original
unit is selected from a part of the curve with the largest radius because of the highest amount of expansion and deployment
angle in this part of the curve. If the drawing process starts from other parts of the curve with a smaller radius, it is more
likely that in part with a larger radius, the unit is formed with unequal semi-bars along the curve due to the same thickness
of units entire length of the curve.

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 15. Drawing a polycentric curve angulated scissor structure at a deployable state: a) drawing an outer curve and unit lines; b) positioning of scissor
hinge and elements of the original unit; c) determining the position of scissor hinge for the adjacent unit; d) drawing elements of the adjacent unit; e)
iteration process of generating the final form; f) final form.

The process of generating the original scissor unit in a polycentric curve is the same as the steps followed in the mono-
centric scissor unit in the deployed state (Fig. 15-b). The adjacent scissor units can also be obtained similar to the process
presented in the deployed state of the monocentric angulated scissor structure shown in Fig. 15-c. This process is done
separately for each part of the polycentric curve and similar to the single-monocentric scissor structure. However, geometric
compatibility must be established on both sides of the common unit line between two parts of the polycentric curve using
the perpendicular bisector method. For this purpose, the intersection point of the segment angle bisector for the first unit of
the new part and the perpendicular bisector of the common unit line should be considered as the scissor hinge for this unit
(Fig. 15-d). Figs. 15-e and 15-f show the generation of the final form of the polycentric angulated scissor structure. In each
part of the curve with the same center, the elements are similar (Fig. 17-a). As the polycentric scissor structure deploys, the
scissor hinge curve also approaches the outer curve.
Finally, the distance between the curves is minimized so that the structure cannot deploy more even without external
constraints. The only difference between the monocentric and polycentric scissor structures is that the whole units do not
necessarily reach the fully deployed state. This fact can be used to design scissor structures in which only one or more
units reach the fully deployed state and behave as constraints for the deployment. In this case, the circles are tangent at
one point instead of intersecting at two points during the drawing process of a fully deployable scissor unit. All previ-
ous steps should be exactly repeated to draw the complete geometry of the scissor structure in the fully deployed state
(Figs. 16 and 17-b). In the undeployed state of this scissor structure, one or more units are undeployed in the part of the
shortest radius on the polycentric curve in comparison to other parts. Also, the rest of the units remain in the deployed
state. Thus, it can be plotted using the same drawing method for deployable polycentric angulated scissor structure, except
that the drawing should be started from the undeployed unit in a part of the curve with the largest radius. Fig. 17 shows
the prototypes of a polycentric angulated scissor structure for deployed and fully deployed states.

3.1.3. Straight-line path

Another path that can be traced by angulated scissor units is the straight-line. The only difference between this type of
angulated scissors and pre-described types is the arrangement of units and position of adjacent units. Depending on adjacent

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 16. Drawing a polycentric curve angulated scissor structure at a fully deployed state: a) drawing an outer curve and unit lines; b) positioning of
scissor hinge and elements of the original unit; c) drawing adjacent scissor unit; d) drawing scissor unit on the new part of curve; e) iteration process of
generating the final form; f) final form.

Fig. 17. A prototype of polycentric angulated scissor structure: a) deployed state; b) fully deployed state.

units’ location relative to the original unit, the straight-line angulated scissor structures are divided into two as type I and
type II (Fig. 18). In type I, even one of the units are fully deployed, the structure will be in its maximum undeployable
state, and the direction of deployment of the structure is opposite to the deployment of the units. However, in type II, the
direction of deployment of the structure is in line with the deployment of units.

3.1.3.1. Type I. The form-finding of the type I can be accomplished in two cases: (a) identical elements and (b) non-identical
elements. To draw the model (a), the straight-line and segment angle should form an equilateral shape whose two legs
are the unit lines of all units, and all the upper and lower joints of the units are placed on these two legs. As a result of

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 18. Angulated scissor structure on the straight-line path: a) type I; b) type II.

Fig. 19. Drawing a straight-line angulated scissor structure of type I at a deployed state: a) drawing an isosceles triangle as unit lines; b) positioning of
scissor hinge and elements of the original unit; c) drawing adjacent scissor unit; d) final form.

the straight-line path, the equilateral triangle’s height and the bisector of the segment angle coincide; thus, it becomes the
geometric location of the scissor hinge of all the units. It should be noted that this structure deploys inside the triangle
(Fig. 19-a).
From two vertices of the triangle, two circles are drawn with a radius r1 . As discussed earlier, depending on the radius r1 ,
these circles can intersect at one or two points or have no intersection at all. For the case where the circles intersect at two
points, the intersection point inside the triangle is the location of the scissors hinge of the unit. Drawing a circle with the
center of the scissor hinge and radius r1 , two new intersection pointsA1 and A2 with the unit, the line is obtained, which are
the two upper joints of the angulated scissor unit. By connecting the above four points to the center of the scissor hinge,
the original scissor unit and its kink angle are determined (Fig. 19-b). To determine the other scissor units, it is enough
to first determine the hinges of the scissors and then the two remote joints. The scissor hinge for the adjacent unit at the
top of the initial unit is obtained from the intersection of a circle with a radius r1 and the center of one of the upper
joints of the original unit with the structural curve. To complete generating the new unit, two remote joints are necessary.
For this purpose, a circle of radius r1 with the center of the scissor, the hinge is drawn (Fig. 19-c). As repeating the steps
described in the generation of the new scissor unit, the final form of the straight-line angulated scissor structure is obtained
(Figs. 19-d and 22-a).
In type I, when one or all units are fully deployed, the structure becomes compact, and its deployment occurs in the
opposite direction of unit expansions. As the units deploy more, the type I structure becomes as more compact as possible.
In this step, the circles of radius r1 are tangent at one point during the original scissor unit’s drawing process instead
of intersecting at two points (Figs. 20 and 22-b). As shown in Fig. 18, only the original scissor unit reaches its ultimate
deployment limit, and the fully deployed state does not possibly occur for all units in type I for the model (a). If all the
units should necessarily reach the ultimate deployment limit in the undeployed state, model (b) of type I must be used.
For model (b) of type I, all units are drawn similarly when the original unit is plotted (Figs. 21 and 22-c). Comparing two
models, it can be argued that the number of units is limited in model (a), but an unlimited number of units can be selected
depending on design requirements in the model (b).

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 20. Drawing a straight-line angulated scissor structure of type I at an undeployed state: a) drawing an isosceles triangle as unit lines; b) positioning
of scissor hinge and elements of the original unit; c) drawing adjacent scissor unit; d) final form.

Fig. 21. Drawing a straight-line angulated scissor structure of type I with non-identical units in the undeployed state: a) drawing an isosceles triangle as
unit lines; b) positioning of scissor hinge and elements of the original unit; c) drawing adjacent scissor unit; d) final form.

3.1.3.2. Type II. In the straight-line angulated scissor structure of type II, the scissor units are located between two parallel
lines. To generate this structure in the deployed state, two parallel lines are initially specified to place the scissor structure
(Fig. 23-a). The original scissor unit is drawn as determining the location of the scissor hinge and then drawing a circle
from the pivot point having a radius r1 that is equal to the one-arm-length of the angulated bar. The scissor hinge can
be placed at any desired point between the parallel lines. The choice of radius r1 must ensure that the circle intersects
both parallel lines at two points (A1 , A2 and B1 , B2 ) (Fig. 23-b). To determine the adjacent unit, its scissor hinge must be
specified on the original unit’s right or left hand. If two circles of radius r1 with the center of upper and lower joints in
the original unit are drawn, they intersect at two points. One of these two points indicates the original unit’s scissor hinge,
and the other represents the scissor hinge of the adjacent unit. The upper and lower joints are identified by drawing a
circle of radius r1 with the center of the new scissor hinge, which intersects parallel lines. In this unit, the elements are

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 22. A prototype of straight-line angulated scissor structure of type I: a) deployed state with identical units; b) undeployed state with identical units;
c) undeployed state with non-identical units.

Fig. 23. Drawing a straight-line angulated scissor structure of type II at a deployed state: a) drawing two parallel lines; b) positioning of scissor hinge and
elements of the original unit; c) drawing adjacent scissor unit; d) drawing the third unit; e) iteration process of generating the final form; f) final form.

Fig. 24. Drawing a straight-line angulated scissor structure of type II at fully deployed state: a) drawing two parallel lines; b) positioning of scissor hinge
and elements of the original unit; c) drawing adjacent scissor unit; d) drawing the third unit; e) iteration process of generating the final form; f) final form.

formed by connecting the upper and lower joints to its scissor hinge (Fig. 23-c). Other units can be drawn with the pattern
introduced for the second unit. It can be seen that scissor units are alternately inverted in this type II (Fig. 23-d). The ulti-
mate form of deployable angulated scissor structure is obtained by repeating the process described for the new scissor units
(Figs. 23-e, 23-f, and 26-a).
In this type, as the straight-line scissor structure deploys, the scissor hinges approach the parallel lines so that they
are finally placed on the parallel lines. All previous steps should be exactly repeated to draw the complete geometry
of the scissor structure in the fully deployed state, but the scissor hinges of the units are placed on the parallel lines
(Figs. 24 and 26-b).
It is also possible to design the straight-line scissor structure of type II in the undeployed state. In such cases, the circles
of radius r1 intersect the parallel lines at three points in the drawing process of scissor units instead of four intersection
points, i.e., intersecting a line at two points and the other at a tangent point. To draw the complete geometry of the scissor
structure in the compact stage, all the previously described steps must be repeated precisely (Figs. 25 and 26-c).

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 25. Drawing a straight-line angulated scissor structure of type II in the undeployed state: a) drawing two parallel lines; b) positioning of scissor hinge
and elements of the original unit; c) drawing adjacent scissor unit; d) drawing the third unit; e) iteration process of generating the final form; f) final form.

Fig. 26. A prototype of straight-line angulated scissor structure of type II: a) deployed state; b) fully deployed state; c) undeployed state.

3.2. Analytical method: mathematical equations

This section shows how the geometry of the scissor structure can be obtained using mathematical equations based on
architectural design parameters. The scissor unit’s geometry is defined as the coordinates of the scissor hinge and the upper
and lower joints in the unit. In architectural design, the scissor structures are employed for a variety of applications. How-
ever, they are mostly used as covers and sunshades. As a sunshade, the architectural design parameters of a scissor structure
include the rise Hr , span S and monocentric or polycentric base curves (Fig. 27). It is possible to find the unknowns, includ-
ing the inner radius Rin , the center of circular arc O, the coordinates of the midpoint on the curve PO , the coordinates of the
endpoint on the curve Pn , the angle between the nth line and the horizon αn and the inscribed angle ϕ using trigonometric
relations. These values can be used to describe the arc geometry of each monocentric curve. The design parameters Hr , S
and the unknown parameters Rin , O, PO , Pn , αn , and ϕ are shown in Fig. 27.
At first, ϕ , Rin and αn can be found using the equations below.
Hr
 2H 
tan ϕ = ϕ = tan−1 r
→ (2)
S/2 S

S/2 1 S
sin (2ϕ ) = → Rin = (3)
Rin 2 sin (2ϕ )

αn = π /2 − 2ϕ (4)

The equation of the circle in the polar coordinate system is (x = Rin cos α , = Rin sin α ), provided that αn ≤ α ≤ π − αn .
As substituting the Eqs. (2) and (3) into the polar coordinate system of the circle, the equation of the circle can be written

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 27. Parameters used to describe the geometry of the monocentric curve of angulated scissor structure.

Fig. 28. Parameters required for the design of angulated scissor structure using mathematical equations.

based on Hr and S as follows:


x= 1 S
cos α
(
2 sin 2tan−1 ( 2HS r ) ) (5)
y= 1 S
sin α
(
2 sin 2tan−1 ( 2HS r ) )
The point P0 (0, Rin ) is the midpoint and the point Pn (Rin cos αn , Rin sin αn ) is the endpoint of the curve (Fig. 27). Then,
the structure can be completed by determining the number of units (U) and the unit thickness (t). Hence the scissor angle
(ω) should be divided into U segment angles (γ ) as shown in Fig. 28. The inscribed angle ϕ is half of the central angle 2ϕ .
So, the scissor angle (ω) is four times the inscribed angle (ϕ ), and the segment angle γ equals 4Uϕ . The outer radius (Re ) is
equal to the sum of the inner radius (Rin ) and unit thickness (t).
The geometric unknowns α , β , θ , m, and c should be calculated to determine the geometry of each angulated scissor
unit. The following equations are established between the kink angle (δ ), the segmental angle (γ ) and the deployment angle
(θ ):
δ = 180 − γ
4ϕ
δ = 180 −
U
δ = β +θ (6)
From Eq. (6), it is found that
β + θ = 180 − γ (7)
β γ
In Fig. 27, using the sine of ( 2 ) in the triangle MTE, the cosine of ( θ2 ) in the triangle MTE, and the cosine of ( 2 ) in the
triangles EOT and MFO, it can be written that
β t/2
sin = (8)
2 a
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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 29. Location of deployable sunshade at the campus of Tabriz Islamic Art University.

θ m−c
cos = (9)
2 a

γ c
cos = (10)
2 Rin

γ Rin + t/2
cos = (11)
2 m
The required design parameters of α , β , θ , m and c can be calculated based on the known values of Hr , S, U, and t as
solving the system of equations below.
⎧
⎪β + θ = 180 − γ
⎪ β t/2
⎪
⎨sin 2 = a
cos θ = m−c
(12)
⎪
⎪
2
cos γ2 =
a
c
⎪
⎩ Rin
γ Rin +t/2
cos 2
= m

Finally, substituting the values of Hr , S, U, and t in Eq. (12), the system of equations can be rewritten as follows:
⎧ β t/2
⎪sin 2 = a
⎪
⎪
⎪
⎪cos θ2 = ma−c  −1 2Hr 
⎪
⎪ 4tan ( S )
⎪
⎨β +θ = 180 − 
⎪ U
2tan−1 ( 2HS r ) c (13)
⎪cos =

⎪
⎪
U
1 S
⎪
⎪
2
sin (2tan−1 (
S ))

2Hr

⎪
⎪
⎪
⎪  −1 2Hr  1 S
+t/2
⎩cos 2tan ( S ) = 2
sin (2tan−1
( S ))
2Hr

U m

4. Case study: numerical results and discussion

In this section, two descriptive methods are implemented for the form-finding of the angulated scissor structure on the
monocentric curve through a numerical model. The numerical model is a sunshade established between the gymnasium
and the library buildings at the campus of Tabriz Islamic Art University to provide a temporary exhibition space (Fig. 29). In
this case study, the span between two buildings is 12 m, and the central library, as the tallest building, is 6.5 m in height.
According to the design requirements, the characteristics of the angulated scissor structure are determined as follows: the
span S = 12 m, the rise Hr = 3 m, the number of units U = 12, and the thickness t = 0.5 m.
Given the known values of S and Hr for the inner curve and unit thickness, the outer curve is drawn and divided into
U equal parts in the geometric drawing method (Figs. 30-a and 30-b). If the unit lines are determined, it is possible to find
the unit thickness, the inner and outer curves, and the four points of units, i.e., two upper joints, and two lower joints.
Therefore, the scissors hinge must be determined to draw the unit elements. The scissor hinge position for the original unit
can be determined by drawing the perpendicular bisector intersecting the segment angle bisector in the original unit. The
original unit elements are then formed by connecting the upper and lower joints to the scissor hinge (Fig. 30-c). The semi-
bar of the element a = r1 can be measured by drawing the elements of the original unit. To determine the scissor hinge of

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Fig. 30. Design of an angulated scissor structure at the campus of Tabriz Islamic Art University using drawing method.

Table 1
Geometric characteristics of final angulated scissor structure
using a geometric construction method.

Geometric characteristics Resulted parameters

ω = 106.26◦
a = 0.65 m
S = 12 m ϕ = 26.57◦
β = 45.23◦
Hr = 3 m γ = 8.86◦
θ = 125.91◦
t = 0.5 m δ = 171.14◦
m = 7.77 m
U = 12 n = 0.58 m
c = 7.48 m
Rin = 7.5 m

the other units, an arc from a circle with the center of point O, and a radius equal to the distance between the point O and
the initial scissor hinge is drawn. The position of the adjacent scissor hinge is obtained by the intersection of this arc and
the circles of radius a = r1 with the center of upper or lower joints. The new unit elements are formed by connecting this
scissor hinge to that unit’s upper and lower joints (Fig. 30-d). The monocentric angulated scissor structure is completed by
repeating the process mentioned above (Fig. 30-e and 30-f). Table 1 represents the characteristics of the ultimate angulated
scissor structure.
After generating the angulated scissor structure based on the geometric construction method, the case study’s form-
finding is conducted using the second method, i.e., mathematical and analytical equations. The parameters required for
drawing a single unit are obtained by substituting the initial data in Eq. (13). The five equations with five unknowns are
solved using the gaussian elimination method via MATLAB® software (Table 2). The angulated scissor structure results from
the multiplication of a single unit (Fig. 31). A comparison of Tables 1 and 2 results indicates that the angulated scissor
structure’s final design is the same for both geometric drawing and mathematical equations. Therefore, the selection of
design and modeling methods for the angulated scissor structure is not unique, and the designer can choose one among the
design methods. Fig. 32 shows the graphic model of the monocentric angulated scissor structure designed for the campus
of Tabriz Islamic Art University.

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

Table 2
The information resulted from mathematical equations.

Geometric characteristics Unknowns obtained from a system of equations

ω = 106.2602047084◦
a = 0.65006744 m
S = 12 m ϕ = 26.5650511771◦
β = 45.23477683
Hr = 3 m γ = 8.855017059◦
θ = 125.9102612◦
t = 0.5 m δ = 171.14498294◦
m = 7.7731967473 m
U = 12 n = 0.57941532 m
c = 7.4776185255 m
Rin = 7.5 m

Fig. 31. Design of an angulated scissor structure at the campus of Tabriz Islamic Art University using the mathematical and analytical method: a) original
unit; b) repeating the unit and final form.

Fig. 32. Graphic model of an angulated scissor structure at the campus of Tabriz Islamic Art University.

Fig. 33. Comparison graphic models of the angulated scissor structures: a) monocentric curve path; b) polycentric curve path (three centers); c) straight-
line path.

Using the geometric and analytical methods presented in this paper, various angulated scissor structures having differ-
ent curvatures can easily be created. For this purpose, two alternatives have also been generated which lie on different
path-curves. Graphic models of the polycentric scissor structure and the straight-line structure are presented in Fig. 33 in
comparison with the single-center scissor structure.

5. Conclusion

In this paper, the geometric characteristics, drawing process, and mathematical equations of the angulated scissor struc-
tures have been addressed. It has been shown how the form-finding of the angulated scissor structures can be done using

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N.F. Dinevari, Y. Shahbazi and F. Maden Mechanism and Machine Theory 164 (2021) 104402

two common methods, such as geometric construction method and analytical method. The configuration has been explained
in the geometric construction method based on the type of base curve, including the monocentric curve, polycentric curve,
and straight-line with identical and non-identical segment angles for three undeployed, deployed, and fully deployed states.
In the analytical method based on mathematical equations, nonlinear equations governing the geometry of a single module
of an angulated scissor structure have been formulated based on the rise and the span of the structure as architectural de-
sign parameters. Finally, the design and form-finding of a sunshade have been accomplished using both methods, which will
be constructed at the Tabriz Islamic Arts University campus. The comparison of the numerical result of each design method
shows excellent compatibility.

Declaration of Competing Interest

The authors declare that they have no known competing financial interests or personal relationships that could have
appeared to influence the work reported in this paper.

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