Gcometry of Expa ndab le Space Structures

by

F. Escrig and J.P. Valcarc cl

Reprinted from

INTERNATIONAL JOURNAL OF
SPA,CE STRUCTURES

SPECIAL ISSUE
VOLUM E 8 No. 1/ 2 1993

.,
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107 High Street, Brent wood , Essc x C M 14 4RX. U nitcd Kin gdom
Geometry of Expandable Space
Structures
F. Escrig1 and J.P. Valcarcel 2

lSchoo1 of Architecture of Sevilla, Spain; 2Shool of Architecture of La Coruna, Spain

(Received 10 February 1990; revised version received 31 January 1992)

SUMMARY: Expandab1e Structures are a specia1kind of mechanism that can

be used in severa1 different geometries . The geometry of structures based on
scissors is introduced to explain concepts necessary to design a wide range of
forros like masts, archs, p1ane spatial structures, cylindrica1 and spherical
bar structures.

1. INTRODUCTION

Expandable Space Bar Structures are a special

kind of articulated struetures that ean aehieve
several spatial configurations from completely
folded, where all struetural elements are coneen-
trated in a bundle, to widely expanded, covering a
great area. These assemblies are mechanisms that
may work as structures by means of proper
meehanic devices to fix them at desired positions.
Basically there are three kinds of Expandable
Space Bar Struetures as follows:
a) uM.BRELLA MECHANISMS, consisting of
a mast around which a radial bundle of bars is
deployed by sliding a cylindrieal or hinged joint
over it (Figure 1) (Ref. 10).
b) HINGED-COLLAPSIBLE STRUTMECH-
ANISMS, consisting of a set ofbars folded in sueh
a way that when sueh meehanisms deploy, hinges
that connect two bars lock, and then the two bars
behave as a single eontinuous piece (Figure 2).
e) X-STRUCTURES. They are the object ofthis
paper and will be described extensively below.
2. THE SCISSOR-HINGED MECHANISM
X-Structures are sets of several scissors as shown
in Figures 3, 4, 5 and 6. Eaeh of these pattems are
able to achieve several movable configurations
Figure 1
and therefore to occupy more or less surface
volume (Figures 7 and 8).
If we conneet these pattems between them, in
sueh a way as to guarantee the eompatibility ofthe
movement of eaeh pieee, we obtain a eomplex sys-
tem able to grow in one, two or three spatial direc-
tions, building a eomplex assembly with the same
properties of the elemental eells: expanding and
folding abilities.
As we can see, the struetural eomponents are .
bars articulated at the ends and eonneeted by
means of a joint at an inner point. This joint will
conneet from two to four or even more bars.
Pattems shown aboye are ealled regular and
they may be warped and give rise to irregular units

Intemational Joumal o/ Spa ce Structures Jlól. 8 Nos. 1&21993 71

 Geom etry 01 Expandable Spa ce Structures

Figure 2

Figure 7 Figure 8

to achievc other complex sp atial con figurations

that will be explained below. To achieve this, sorne
compatibility conditions between length of each
strut of the whole, have to be satisfied.
Characteristics of regular patterns are bars of
the same size and crossing point in the middle of
thc bars. Irregular cells lack one or both of these
properties and give a long series of different
possibilities. Ofcourse, foldability is only possible
if sorne restrictions are achieved. In a general case
Figure 3 Figure 4 a structure like the one shown in Figure 9 can be
folded only if bar lengths satisfy:

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

3-7 + 5-7 = 3 9 + 5 9 (1)

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

Similar conditions must be satisfied when
several units are connected.
Depending of the kind of irregu1arity we obtain
cells for different geometries and uses. We will try
a tentative classification.

3. LINEAR GRIDS

Longitudinal structures may be obtained by con-

Figure S Figure 6 necting patterns in one direction. If patterns are

72 Int ernational Joumal 01 Spac e Structur es Vol. 8 Nos. 1&2 1993

F. Escrigand J.P. Valcarcel

Figure 12 Figure ~3

nection to give very stiff structures, as shown in

Figure 9
regular, growing is straight, as shown in Figures
10, 11, 12 and 13.In the case oflinear grids we can
use struts with more than one intermediate con-
Figure 14.
With warped cells we can obtain tapering masts
(Figure 15) or curved pieces (Figure 16).

Figure 14

Figure 10 Figure 11 Figure 15

Intemational Journal of Space Structures Vol. 8 Nos. 1&2 1993 73

 Geometry 01 Expandable Space Stru ctures

Figure 17

Fig ure 18

5. PRISMATIC GRIDS

lf we use leaned patterns as shown in Figures 19

and 20 we can obtain faceted surfaces to complete

Figure 16

4. PLANE GRIDS

They are made from regular cclls and can be used

as roofs or umbrellas (F igure 17) stiffned by
mean s of ca bles or fab rico
If we connect sever al pl ane figures we can
obtain complex forms lik e the icosa he dron sho wn
in Figure 18. Figure 19 Figure 20

74 lnternational Joumal 01 Space Structures Vol. 8 Nos. 1&21993

F. Escrig and J.P. Valcarcel

covers like those shown in Figures 2 1 and 22 as

well as th e pyramid sh own in Figure 23.
Figure 24 shows sketches of umbrellas reinfor-
ced with ca bles.

Fig u re 23

6. TWO-WAY CYLlNDRICAL GRIDS

On a cylindrical surface wc can draw a two-way

grid (Figure 25) along principal coordinates to
generate faces wherc to place scissors (Figure 26).
11' the resulting patterns meet the restrictions
defined aboye we obtain an expandable structure
with wide utility in architecture. Figures 27'and 28
show a tcmporary exhibition room in Almeria
(Spain) proposed by the authors.
Figure 29 shows a structure proposed by HER-
NANDEZ MERCHAN (Ref. lO),which will be
made with only one length of strut. lts angular
stability could be ensurcd by diagonalyzing a
Figure 21 number of modules with bars, cables or even the
fabric cover itscll.

7. THREE-WAY CYLlNDRICAL GRIDS

If we draw on a cylindrical suríace a triangular

grid we can obtain triangles (Figure 30) where "A"
trusses are curved in aplane, whereas "B" and "C'
trusses are warped. As bcfore Figure 30a is a sim-
plified version 01' Figure 30b representing only
faces tied to the scissors for the sake 01' clarity.
Figure 31 shows a conliguration where "A" trusses
remain plane whilc "B" and "C' are warped. In
both cases, warping rcprcscnts an additional dif-
ficulty, since scissors cannot be connected to a
warped facc. Both diagonaIs lack an intermediate
point 01' contact. Thus, threc-way foldable cylin-
dric structures are a combination 01' scissors and
isolated bars (Figure 32a).
The analysis that wc have made of such a type of
structures has confirrncd that they are stable, pro-
Figure 22 vidcd that the supporl points are immobilized

Intemational Journal 01 Space Structures Vol. 8 Nos. 1&21993 75


Figure 24
(Ref. 7). Another way of solving this problem is the
use ofcurved bars which in the folded position are
forced towards a straight configuration, thus stor-
ing strain energy for se1f-unfolding and folding
the structures in thcir final positions (Figure 32b).
These structures can be built with only one length
of strut.
8. TWO-WAY SPHERICAL GRIDS
If we project a square mesh onto a spherical sur-
face (Figure 33) we can obtain expandable X-
Structures from patterns 11 and IV like those
shown in Figures 35 and 36. To obtain the crossing
point of scissors we will use the restrictions of
Figure 34: Angular segments ~ ¡ for the same node
D¡ will be cqual. This means in the complete
structure
~¡ + ~i - I = Dp¡_1 = U i - 1
(2)
~¡ + ~¡+ I = DPi+1 = u¡
76
Geometry 01 Expandable Spa ce Stru ctures
system of "n" equations with "m" variables, "n"
bcing the number ofgrid edges connecting D i' "m"
the number of nodes D¡, and u¡ thc angle resulting
from edge sub-division,
To complete the system we must add "s"
equations derived from symmetry and imposed
gcometric constraints.
Finally we will have "n + s" equations in a sys-
tcm with "m" variables. If"n+s" = "m" the system
will be determined. Otherwise it will be incom-
plete or redundant.
Once obtained segments ~¡ from Figure 34 and
fixed thc valucd of the angle bi' we can obtain the
length of the bars from the re1ations :
Rsin~ i
\'=
I
\'1-1= COS (S:V i +tJ¡)
A
(3)
Rsin~i
k¡=k¡_¡= COS(b i+~¡)
R being the sphere radius for the anglc b;.
Int ernational Journal 01 Space Stru ctures Vol. 8 Nos. 1&2 1993
 F. Escrig and J.P. Valcarcel

~i'~I~v;~Wf

1 ! ,:I J~I~I .I~ " ,~ ¡'/~;é ~{~~~~' :"" ~':t.''-~l.

, ~~@},~~' :¡'

.JW7"
.r~J r.: . . ¡'ti,. / ,,"'>'-9~!/... ;;<", ";'101. JI I.r.¡' ~F"
/" , 'h e '-C:r{{I/''i 'j ,¡

.ll11.. . J ""'" ") ,..,ni".

Figure 28

Figure 2S

Figure 26 Figure 29

~.- ..-
-- ---
-- ...
--~ ---~--
--- .- . - -

a Joumal of S, Figure 27
Intemation , pa ce Str uctures
. .
Vio1. 8 Nos. 1&2 1993 77

Figure 30a
Figure 30b
Figure 32a
With these lengths we can build the complete
structure and the joint coordinates for o¡ variable
with kinematic position from Oto 90°.
Two-way spherical grids are unstable since
angular distortions are possible. However this
effeet can be avoided by diagonalizing a number
78
Geometry 01Expandable Space Structures
Figure 31
Figure 32b
of elements as indicated aboye for cylindrical
grids. A sort of different geometries can be
achieved depending on strut lengths.
9. THREE-WAY SPHERICAL GRIDS
To obtain these grids with a spherical net, initial
Intemational Joumal 01 Space Structures Vol. 8 Nos. 1&21993
F. Escrig and l.P. Valcarcel
and final compatibility conditions are considered.
In other words, we guarantee the geometry for
both folded and expanded positions. However
these conditions, which are of course necessary,
are not sufficient, the structure goes through inter-
Figure 33
Figure 34
mediate stages in which it has to be forced with an
energy input. From the point where the incom-
patibility is largest, the structure returns the stored
energy by folding or unfolding and then remain-
ing in one ofthe limiting positions (the only ones
with a compatible design). If the bars are not
exceedingly rigid, this may be advantageous since
self-stabilizing structures can be obtained.
The adjustment of a three-way grid on a sphere
may be achieved in several ways, basical1y by pro-
jecting onto a spherical surface a grid contained in
the equatorial plane, originating from a focus on
the polar axis of the sphere. Depending on the
Intemational Joumal 01 Space Structures Vol. 8 Nos. 1&2 1993
position of'the grid, structures as in Figures 37 and
38 will be obtained. It is advisable to choose the
focus so that thc bar lengths are as similar as poss-
ible. Figure 39 shows a six-frequency grid obtained
by projection of a triangular mesh placed in the
\ - "--
"\ '\
r--
J \
I f
\
\
P- .....
'J V
<,
u .- .l.. Á
......
Figure 35
equatorial plan from a focus placed on the bottom
of the sphere.
10. GEODESIC GRIDS
To minimize distortion of two- or three-way grids
over a sphere, geodesic polyedra can be used.
Deployable grids are in this case obtained by sub-
stituting every edge of a polyhedron by scissors
satisfying the compatibility conditions. Moreover
the upper and lower nodes are aligned to the cen-
tre ofthe sphcre. Polyhedra bascd on any polygon
and any subdivision order may be used.
In intermediate stages, this type of grids has the
same incompatibility problems previously des-
cribed. Energy input is required for folding or
unfolding, but it will be later returned Ior stabiliz-
ing the whole.
79

Figure 41
Figure 42
evide ntly permit a number of variants. Moreover
other pos sibilities based on different con-
figur ations will be discussed elsewhere. Figure 47
shows a structure achieved with rhombic sub-
division and built with only one type of strut.
82
Geom etry 01 Expandable Space Structures
13. ACKOWLEDGEMENTS
This research has been achieved with financial
support provided by DGICYT (Direccion General
de Investigacion cientifica y Tecnologica). Figure
1 has been reproduced from Ref. 10. Figures 45
and 46 have been reproduced from Ref. 12 and 13.
Drawings of Figures 27 and 28 belong to F.
ORTEGA ANDRADE.
REFERENCES
1. CLARKE, R.e., "The kynematics of a novel deployable
space structural system". Thirt Int. Con! on Space Struc-
tures Proceedings. Surrey 1984. Elsevier. pp. 820-822.
2. ESCRIG, F., "Sistema modular para le construccion de
estructuras espaciales desplegables de barras" Patente
espanola numo532117. Mayo 1984.
3. ESCRIG, F., "Expandable Space Frame structures".
Third Int. Con! on Space Structures Proceedings. Surrey
1984. Elsevier, pp. 845-850.
4. ESCRIG, F., "Expandable Space Structures". Space
Structures Int. Journ . Vol. 1, numo 2. Elsevier, pp. 79-
91.
5. ESCRIG, F. & P. VALCARCEL, J., "Introduccion a la
geometria de las estructuras espaciales desplegables de
barras". Bol. acad. ETSALa Coruna, numo 3. Feb. 1986,
pp. 48-57.
6. ESCRIG, F. & P . VALCARCEL, J., "G reat Size
Umbrellas solved with Expandable Bar Structu res".
First Int. Con! on Lightweight Stru ctures in Architecture.
Sydney 1986. pp, 676-681.
7. ESCRIG, F. & P. VALCARCEL, J., "Curvcd Expand-
able Space Grids", Con! on Non-Conventional Structures
Proceedings. Vol. 2. pp. 157-166. Civil-Comp Press
1987.
8. ESCRIG, F. & P. VALCARCEL, J., "Estructuras
espaciales desp1egab1es curvas" Informes de la Con-
struccion. Madrid IET Vol. 39, Num. 393 pp . 53-71.
9. ESCRIG, F., P. VALCARCEL,J. & GIL DELAGADO,
O., "Design of Expandable Spherical Grids" IASS
Simp. 1989. Madrid. 16 pp .
10. HERNANDEZ, C, "Estructuras transformables. Estran
1" Tecnologia y Construccion.nA. 1988. Caracas pp .
103-118.
11. McNULTY, O., "Foldable Space Structurcs". First Int.
Con! on Lightweight Stru ctures in Architecture". Sydney
1986. pp. 682-689.
12. P. PINERO, E., "Materia-Estructura-Forma". Hogar y
Arquitectura numo 40. Madrid 1962. pp. 25-30.
13. P. PINERO, E., "E structures reticulees". L'Architecture
d'aujourd'hui, Vol. 141, Dec 1968. pp. 76-81.
14. ZEIGLER., us. Patent 4.026.313. May 1977.
Intemational Journal 01 Space Structures Vol. 8 Nos. 1&2 1993
F. Escrig and J.P. Valcarcel

Table 1. Geodesic Icosahedron with Frequency Four. length of Bars

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

PRISMA 4 D17= .1106 D27= .1060 D73= .1570 D74= .1478

PRISMA 4 D38= .1570 D48= .1478 D85= .1570 D86= .1478
PRISMA 4 D19= .1106 D29= .1060 D95= .1570 D96= .1478

PRISMA 3 1 D17= .1536 D27= .1444 D73= .1652 074= .1546

PRISMA 3 1 D38= .1689 D48= .1583 D85= .1650 D86= .1549
PRISMA 3 1 D19= .1570 D29= .1478 D95= .1573 D96= .1472
PRISMA 3 2 D17= .1570 D27= .1478 D73= .1573 D74= .1472
PRISMA 3 2 D38= .1650 D48= .1549 D85= .1689 D86= .1583
PRISMA 3 2 D19= .1536 D29= .1444 D95= .1652 D96= .1546

PRISMA 2 1 D17= .1683 D27= .1577 D73= .1494 D74= .1413

PRISMA 2 1 D38= .1465 D48= .1385 D85= .1677 D86= .1565
PRISMA 2 1 Dl9= .1651 D29= .1545 D95= .1699 D96= .1587
PRISMA 2 2 D17= .1728 D27= .1626 D73= .1738 D74= .1626
PRISMA 2 2 D38= .1738 D48= .1626 D85= .1738 D86= .1626
PRISMA 2 2 Dl9= .1728 D29= .1626 D95= .1738 D96= .1626
PRISMA 2 3 D17= .1651 D27= .1545 D73= .1699 D74= .1587
PRISMA 2 3 D38= .1677 D48= .1565 D85= .1465 D86= .1385
PRISMA 2 3 Dl9= .1683 D29= .1577 D95= .1494 D96= .1414

PRISMA 1 Dl7= .1561 D27= .1481 D73= .1103 D74= .1058

PRISMA 1 D38= .1093 D48= .1047 D85= .1583 D86= .149 1
PRISMA 1 Dl9= .1547 D29= .1466 D95= .1583 D96= .149 1
PRISMA 2 Dl7= .1655 D27= .1543 D73= .1501 074= .1408
PRISMA 2 D38= .1576 D48= .1484 D85= .1602 D86= .1506
PRISMA 2 D19= .1738 D29= .1626 D95= .1602 D96= .1506
PRISMA 3 Dl7= .1738 D27= .1626 D73= .1602 074= .1506
PRISMA 3 D38= .1602 D48= .1506 D85= .1576 D86= .1484
PRISMA 3 D19= .1655 D29= .1543 D95= .1501 D96= .1408
PRISMA 4 D17= .1547 D27= .1467 D73= .1583 074= .1491
PRISMA 4 D38= .1583 D48= .149 1 D85= .1093 ' D 86 = .105 1
PRISMA 4 D19= .1561 D29= .1481 D95= .1103 D96= .1061

Figure 43

Intemational Journal of Space Structures Vol. 8 Nos. 1&2 1993 83

 Geometry 01 Expandable Space Structures

Figure 44

Figure 45 Figure 46

Figure 47

84 Intemational Joumal 01 Space Structures Vol. 8 Nos. 1&21993