Deployable structures. CISM course, Udine, Italy, July 5--9, 1999 (Q5960931)

Deployable structures are capable of automatically varying their shape from a compact packed configuration to an expanded operational configuration: simple, well-known examples are the umbrella and the telescopic radio aerial. This book is devoted to the theory of deployable structures and is based on the lecture notes of the course held at CISM. The course has been organized around three main themes: concepts, working principles, and mechanics, both in engineering and biology (chapters 1-6); theory of foldable bar structures and application to deployable tensegrities (chapters 7-11), and finite element simulation methods in deployable structures (the final chapter 12). Chapter 1 treats deployable structures in engineering and describes different ways of using structural forms to design structures that can undergo large geometric transformations. Several examples used in practice are considered such as coiled rods, flexible shells, membranes, retractable hardtop of a car, ring pantographs, tension truss antenna, and retractable domes. Chapter 2 deals with deployable structures in nature. Among other things, the reader can find here the description of the behavior of a worm explained as a biological tube, the wings of insects presented as deployable structures, and the opening mechanism of a mouth of angler fish given as a four-bar mechanism. Chapter 3 ``Stealing ideas from nature'' shows how some examples of deployable structure in nature are implemented in technique. The folding of a membrane is considered in chapter 4. Some geometrical properties are discussed, and the wrapping around a hub is demonstated. Chapter 5 deals with the elastic folding of shell structures. Finite element simulation is used, and some examples concerning reflector antennas are given. Bi-stable structures are treated in chapter 6. It is shown that it is possible to design complete deployable structures that are bi-stable, and several examples are considered. Chapter 7 ``Infinitesimal and finite mechanisms'' deals with static and kinematic properties of pin-jointed bar structures -- equilibrium, critical forms, projective and polar invariance. Chapter 8 is an extension of the previous chapter which considers the so-called kinematic bifurcation. This is the case when the instantaneous number of degrees of freedom in certain position of a linkage is greater than the number of degrees of freedom of the linkage. Interesting examples for such phenomena are shown. Some specific mathematical tools for matrices of deployable structures are given, together with examples, in chapter 9. Chapter 10 is entitled ``Tensegrity systems''. Tensegrity systems are space-reticulated system rigidized by a state of self-stress. Their members are rectilinear and of similar size. Compressive members (struts) constitute a discontinuous set, tensile members (cables) constitute a continuous set. Every node is connected to at least one strut and three cables, and tensile elements have no rigidity in compression. Interesting examples are shown and studied. Chapter 11 considers foldable tensegrities, where a general folding principle is proposed and applied to different structures. Many examples demonstrate the general theory. The purpose of the final chapter 12 (which, however, is about 1/3 of all book) is to describe a general methodology for efficient computer simulation of deployable mechanical systems. An overview of appropriate simulation techniques in the context of flexible multibody dynamics is given, and finite element models are generalized for systems made of structural components connected through various kinds of kinematic joints. Some numerical simulations describing the deployment of complex articulated structures conclude the chapter.