Expansion device

Abstract

Expansion devices and systems are provided that include an extension truss including a plurality of units, each unit including: a first scissor extender including a first member and a second member, the second member rotatably connected to the first member at an eccentric point along a longitudinal axis of the first member; a second scissor extender connected to the first scissor extender, the second scissor extender comprising a first member and a second member rotatably connected to the first member; and a third scissor extender connected to the first scissor extender, the third scissor extender including a first member and a second member rotatably connected to the first member.

Description

Cross-reference to related applications

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 539,100, filed September 19, 2023, the disclosure of which is incorporated herein by reference in its entirety. Government Rights Statement

[0002] This invention was made with government grant No. A174628 granted by NASA. The government owns certain rights to this invention. Technical Field

[0003] This disclosure generally relates to extension devices, and in non-limiting embodiments, to extension trusses, tiered extension devices, and methods of designing and constructing thereof. Background Technology

[0004] Prolonged spaceflight presents severe challenges to the human body, including muscle atrophy, bone loss, vision impairment, and immunosuppression. Many of these effects are related to the lack of gravity, and the ability to generate artificial gravity using rotating space structures could eliminate their root causes. Since humans would feel uncomfortable exposed to rotational speeds as low as 3 RPM, such structures must be able to rotate at approximately 1 to 2 RPM. A 1.7-kilometer-long structure was used to achieve a centripetal acceleration equivalent to 1 RPM under Earth's gravity. A half-kilometer-long structure was used for a rotational speed of 2 RPM, generally considered the upper limit for human comfort. Constructing a kilometer-scale space structure using existing technology would require launching dozens of rockets. Furthermore, extensive on-orbit assembly and manufacturing would significantly increase the risks and costs. In principle, long tethers could be used to deploy rotating space habitats from a single launch. However, the tether's ability to transfer mechanical loads is limited, making maneuvering and position-keeping control difficult.

[0005] Piles are a crucial component of space infrastructure. Many pier technologies exist, but they remain limited by their unpredictable deployability. They rely on tensioned cables or buckling elements to deploy and maintain shape, which is also a limitation of these technologies. Tensor-gendered integral designs are well-packaged and conceptually simple. However, they have two major drawbacks: first, they rely on cables that only become taut upon full deployment, making tangling possible during deployment; second, they lack redundancy, and the failure of a single cable can significantly weaken the structure. Tethers are perhaps one of the simplest space structures and have been tested in orbit numerous times. The Gemini 11 mission deployed a 100-foot (30-meter) tether between the crewed Gemini spacecraft and the Agena upper stage booster. This then rotated the combined system up to 55 degrees per minute to generate approximately 0.00015 g of artificial gravity. Other notable on-orbit tether deployments include the two Space Shuttle TSS missions in 1992 and 1996. All three experiments encountered difficulties in managing the flexible nature of tethers and their inability to transmit mechanical loads. Summary of the Invention

[0006] According to a non-limiting embodiment or aspect, an extension truss is provided, comprising a plurality of units, each unit comprising: a first scissor extender including a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member; a second scissor extender connected to the first scissor extender, the second scissor extender including the first member and the second member rotatably connected to the first member; and a third scissor extender connected to the first scissor extender, the third scissor extender including the first member and the second member rotatably connected to the first member.

[0007] In a non-limiting embodiment or aspect, the first and second components of the first scissor extender each include a first end and a second end, wherein the first and second components of the second scissor extender each include a first end and a second end, wherein the first and second components of the third scissor extender each include a first end and a second end, and wherein each unit further includes a plurality of connectors comprising: a first connector connecting the first end of the first component of the second scissor extender to the second end of the second component of the first scissor extender; a second connector connecting the first end of the second component of the second scissor extender to the second end of the first component of the first scissor extender; a third connector connecting the second end of the second component of the third scissor extender to the first end of the first component of the first scissor extender; and a fourth connector connecting the second end of the first component of the third scissor extender to the first end of the second component of the first scissor extender. In a non-limiting embodiment or aspect, each of the plurality of connectors includes a compliant flexure.

[0008] In a non-limiting embodiment or aspect, each unit further includes at least one additional scissor extender comprising a first member and a second member rotatably connected to the first member, the at least one additional scissor extender being connected to the first scissor extender, the second scissor extender, and / or the third scissor extender. In a non-limiting embodiment or aspect, multiple units are arranged as support members of a Kresling structure. In a non-limiting embodiment or aspect, the device includes a locking mechanism configured to lock the first scissor extender, the second scissor extender, and / or the third scissor extender in at least a partially extended state. In a non-limiting embodiment or aspect, the lengths of the first and second members of the third scissor extender and / or the second scissor extender are shorter than the lengths of the first and second members of the first scissor extender. In a non-limiting embodiment or aspect, the first scissor extender further includes a swivel joint rotatably connected to the first and second members of the first scissor extender.

[0009] According to a non-limiting embodiment or aspect, an extension device is provided, comprising: a plurality of first scissor extenders connected in series, at least one of the plurality of first scissor extenders including a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member; a plurality of second scissor extenders connected in series, each of the plurality of second scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of second scissor extenders being connected to the plurality of first scissor extenders; and a plurality of third scissor extenders connected in series, each of the plurality of second scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of third scissor extenders being connected to the plurality of first scissor extenders.

[0010] In a non-limiting embodiment or aspect, the device includes: a plurality of connectors connecting a plurality of first scissor extenders to a plurality of third scissor extenders and a plurality of second scissor extenders. In a non-limiting embodiment or aspect, the plurality of connectors includes compliant flexures. In a non-limiting embodiment or aspect, the device includes: a plurality of fourth scissor extenders connected in series, each of the plurality of fourth scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of fourth scissor extenders being connected to a plurality of second scissor extenders and a plurality of third scissor extenders. In a non-limiting embodiment or aspect, a plurality of first scissor extenders form a first elongated member, a plurality of second scissor extenders form a second elongated member, and a plurality of third scissor extenders form a third elongated member, and the device includes: a first end connector at a first end of each of the first elongated member, the second elongated member, and the third elongated member; and a second end connector at a second end of each of the first elongated member, the second elongated member, and the third elongated member, wherein the first elongated member, the second elongated member, and the third elongated member are arranged to include a Kresling structure member connected to the top of at least one first end connector and connected to the bottom of at least one second end connector.

[0011] In a non-limiting embodiment or aspect, the device includes a locking mechanism configured to lock the pop-up extender in a position at least partially extended. In a non-limiting embodiment or aspect, the lengths of the first and second members of each second scissor extender are shorter than the lengths of the first and second members of each first scissor extender. In a non-limiting embodiment or aspect, the extension device is configured to be substantially flat in a configuration where each first, second, and third scissor extender is substantially compressed, and the pop-up extender is configured to form a structure with a three-dimensional cross-section in a configuration where each first, second, and third scissor extender is at least partially extended.

[0012] According to a non-limiting embodiment or aspect, a unit for a pop-out extension truss is provided, comprising: a first scissor extender including a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member; a second scissor extender connected to the first scissor extender, the second scissor extender including the first member and the second member rotatably connected to the first member; and a third scissor extender connected to the first scissor extender, the third scissor extender including the first member and the second member rotatably connected to the first member. In a non-limiting embodiment or aspect, the first member and the second member of the first scissor extender each include a first end and a second end, the first member and the second member of the second scissor extender each include a first end and a second end, and the first member and the second member of the third scissor extender each include a first end and a second end, the unit further comprising: a first connector connecting the first end of the first member of the second scissor extender to the second end of the second member of the first scissor extender; and a second connector connecting the second end of the second member of the third scissor extender to the first end of the first member of the first scissor extender.

[0013] In a non-limiting embodiment or aspect, the first connector and the second connector each include a compliant flexure. In a non-limiting embodiment or aspect, the lengths of the first and second members of the second scissor extender are shorter than the lengths of the first and second members of the first scissor extender. In a non-limiting embodiment or aspect, the device includes at least one additional scissor extender including a first member and a second member rotatably connected to the first member, the first and second members of the second scissor extender each having a first end and a second end, the at least one additional scissor extender being connected to the first scissor extender, the second scissor extender, and / or the third scissor extender. In a non-limiting embodiment or aspect, the device includes a locking mechanism configured to lock the first scissor extender, the second scissor extender, and / or the third scissor extender in at least a partially extended state. In a non-limiting embodiment or aspect, the lengths of the first and second members of the second scissor extender are shorter than the lengths of the first and second members of the first scissor extender, and wherein the lengths of the first and second members of the third scissor extender are shorter than the lengths of the first and second members of the first scissor extender.

[0014] According to a non-limiting embodiment or aspect, a graded expansion device is provided, comprising: a plurality of first expansion mechanisms, each first expansion mechanism being configured to be compressed into a compressed state having a compressed length and extended into an extended state having an extended length; and a second expansion mechanism comprising a plurality of members configured to be compressed into a compressed state and extended into an extended state without changing the length of the plurality of members, each of the plurality of members comprising a first expansion mechanism of the plurality of first expansion mechanisms.

[0015] In a non-limiting embodiment or aspect, each of the plurality of first extension mechanisms includes at least one scissor extender. In a non-limiting embodiment or aspect, each of the plurality of first extension mechanisms includes a pop-out extension truss. In a non-limiting embodiment or aspect, the second extension mechanism includes a Kresling structure, and multiple members include elongated supports for the Kresling structure.

[0016] According to a non-limiting embodiment or aspect, an extension device is provided, comprising: a first extension assembly consisting of two or more mechanically fastened members, such that the first member of the two or more members is pivotable relative to a second member of the two or more members, wherein the pivoting of the first member relative to the second member compresses and extends the first extension assembly; and a second extension assembly consisting of one or more of the first extension assemblies, a first end, and a second end.

[0017] In a non-limiting embodiment or aspect, the first extension component maintains a compressed or extended state during rotation of the first end relative to the second end. In a non-limiting embodiment or aspect, rotation of the first end relative to the second end compresses and extends the second extension component. In a non-limiting embodiment or aspect, when the second extension component is in an extended state, pivoting of the first member relative to the second member compresses and extends the first extension component. In a non-limiting embodiment or aspect, the first extension component includes a plurality of scissor extenders. In a non-limiting embodiment or aspect, the second extension component includes a Kresling structure.

[0018] Other non-limiting embodiments or aspects will be set forth in the following numbered clauses: Clause 1: An extension truss comprising a plurality of units, each unit comprising: a first scissor extender including a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member; a second scissor extender connected to the first scissor extender, the second scissor extender including the first member and the second member rotatably connected to the first member; and a third scissor extender connected to the first scissor extender, the third scissor extender including the first member and the second member rotatably connected to the first member.

[0019] Clause 2: The extension truss according to Clause 1, wherein the first and second members of the first scissor extender each include a first end and a second end, wherein the first and second members of the second scissor extender each include a first end and a second end, wherein the first and second members of the third scissor extender each include a first end and a second end, and wherein each unit further includes a plurality of joints comprising: a first joint connecting the first end of the first member of the second scissor extender to the second end of the second member of the first scissor extender; a second joint connecting the first end of the second member of the second scissor extender to the second end of the first member of the first scissor extender; a third joint connecting the second end of the second member of the third scissor extender to the first end of the first member of the first scissor extender; and a fourth joint connecting the second end of the first member of the third scissor extender to the first end of the second member of the first scissor extender.

[0020] Clause 3: An extension truss as described in Clause 1 or 2, wherein each of the plurality of joints includes a compliant flexural element.

[0021] Clause 4: The extension truss according to any one of claims 1 to 3, wherein each unit further comprises at least one additional scissor extender comprising a first member and a second member rotatably connected to the first member, the at least one additional scissor extender being connected to the first scissor extender, the second scissor extender and / or the third scissor extender.

[0022] Clause 5. The extension truss according to any one of claims 1 to 4, wherein the plurality of units are arranged as supporting members of a Kresling structure.

[0023] Clause 6. The extension truss according to any one of claims 1 to 5, further comprising a locking mechanism configured to lock the first scissor extender, the second scissor extender and / or the third scissor extender in a state of at least partial extension.

[0024] Clause 7. The extension truss according to any one of claims 1 to 6, wherein the lengths of the first and second members of the third scissor extender and / or the second scissor extender are shorter than the lengths of the first and second members of the first scissor extender.

[0025] Clause 8. The extension truss according to any one of claims 1 to 7, wherein the first scissor extender further includes a swivel joint rotatably connecting the first member and the second member of the first scissor extender.

[0026] Clause 9: An extension device comprising: a plurality of first scissor extenders connected in series, at least one of the plurality of first scissor extenders including a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member; a plurality of second scissor extenders connected in series, each of the plurality of second scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of second scissor extenders being connected to the plurality of first scissor extenders; and a plurality of third scissor extenders connected in series, each of the plurality of second scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of third scissor extenders being connected to the plurality of first scissor extenders.

[0027] Clause 10. The extension device according to Clause 9 further includes: a plurality of connectors that connect a plurality of first scissor extenders to a plurality of third scissor extenders and a plurality of second scissor extenders.

[0028] Clause 11: The extended device as described in Clause 9 or 10, wherein the plurality of joints includes compliant flexural elements.

[0029] Clause 12: An extension device according to any one of Clauses 9 to 11, comprising: a plurality of fourth scissor extenders connected in series, each of the plurality of fourth scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of fourth scissor extenders being connected to a plurality of second scissor extenders and a plurality of three scissor extenders.

[0030] Clause 13. An extension device according to any one of Clauses 9 to 12, wherein the plurality of first scissor extenders form a first elongated member, wherein the plurality of second scissor extenders form a second elongated member, and wherein the plurality of third scissor extenders form a third elongated member, the extension device further comprising: a first end connector at a first end of each of the first elongated member, the second elongated member, and the third elongated member; and a second end connector at a second end of each of the first elongated member, the second elongated member, and the third elongated member, wherein the first elongated member, the second elongated member, and the third elongated member are arranged to include members comprising a Kresling structure connected to the top of at least one first end connector and connected to the bottom of at least one second end connector.

[0031] Clause 14. The extension device according to any one of Clauses 9 to 13 further includes a locking mechanism configured to lock the pop-up extender in at least a partially extended position.

[0032] Clause 15. The extension device according to any one of Clauses 9 to 14, wherein the locking mechanism includes a member configured to rigidly connect two components of at least one scissor extender.

[0033] Clause 16. The extension device according to any one of Clauses 9 to 15, wherein the length of the first and second components of each second scissor extender is shorter than the length of the first and second components of each first scissor extender.

[0034] Clause 17. The extension device according to any one of Clauses 9 to 16, wherein the extension device is configured to be substantially flat in a configuration in which each of the first scissor extenders, each of the second scissor extenders and each of the third scissor extenders is substantially compressed, and wherein the pop-up extenders are configured to form a structure having a three-dimensional cross-section in a configuration in which each of the first scissor extenders, each of the second scissor extenders and each of the third scissor extenders is at least partially extended.

[0035] Clause 18: A unit of a pop-out extension truss, comprising: a first scissor extender including a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member; a second scissor extender connected to the first scissor extender, the second scissor extender including the first member and the second member rotatably connected to the first member; and a third scissor extender connected to the first scissor extender, the third scissor extender including the first member and the second member rotatably connected to the first member.

[0036] Clause 19: The unit according to Clause 18, wherein the first component and the second component of the first scissor extender each include a first end and a second end, wherein the first component and the second component of the second scissor extender each include a first end and a second end, and wherein the first component and the second component of the third scissor extender each include a first end and a second end, the unit further comprising: a first connector for connecting the first end of the first component of the second scissor extender to the second end of the second component of the first scissor extender; and a second connector for connecting the second end of the second component of the third scissor extender to the first end of the first component of the first scissor extender.

[0037] Clause 20: The unit according to Clause 18 or 19, wherein the first joint and the second joint each include a compliant flexure.

[0038] Clause 21: The unit according to any one of Clauses 18 to 20, wherein the length of the first member and the second member of the second scissor extender is shorter than the length of the first member and the second member of the first scissor extender.

[0039] Clause 22: The unit according to any one of Clauses 18 to 21 includes at least one additional scissor extender comprising a first member and a second member rotatably connected to the first member, the first member and the second member of the second scissor extender each having a first end and a second end, and the at least one additional scissor extender being connected to the first scissor extender, the second scissor extender and / or the third scissor extender.

[0040] Clause 23: The unit according to any one of Clauses 18 to 22 further includes a locking mechanism configured to lock the first scissor extender, the second scissor extender and / or the third scissor extender in at least a partially extended state.

[0041] Clause 24: The unit according to any one of Clauses 18 to 23, wherein the lengths of the first and second members of the second scissor extender are shorter than the lengths of the first and second members of the first scissor extender, and wherein the lengths of the first and second members of the third scissor extender are shorter than the lengths of the first and second members of the first scissor extender.

[0042] Clause 25: A graded expansion device comprising: a plurality of first expansion mechanisms, each first expansion mechanism configured to be compressed into a compressed state having a compressed length and extended into an extended state having an extended length; and a second expansion mechanism comprising a plurality of members configured to be compressed into a compressed state and extended into an extended state without changing the length of the plurality of members, each of the plurality of members comprising a first expansion mechanism of the plurality of first expansion mechanisms.

[0043] Clause 26: The graded extension device according to Clause 25, wherein each of the plurality of first extension mechanisms includes at least one scissor extender.

[0044] Clause 27: The tiered extension device as described in Clause 25 or 26, wherein each of the plurality of first extension mechanisms includes a pop-up extension truss.

[0045] Clause 28: A graded expansion device according to any one of Clauses 25 to 27, wherein the second expansion mechanism includes a Kresling structure, and wherein a plurality of components include elongated supports for the Kresling structure.

[0046] Clause 29: The tiered extension device according to any one of Clauses 25 to 28 further includes a locking mechanism configured to lock the tiered extension device in a state of at least partial extension.

[0047] Clause 30: The tiered expansion device according to any one of Clauses 25 to 29 further includes a pivotable joint connecting each end of each of the plurality of components to at least one object.

[0048] Clause 31: An extension device comprising: a first extension assembly consisting of two or more mechanically fastened members, such that the first member of the two or more members is pivotable relative to a second member of the two or more members, wherein the pivoting of the first member relative to the second member compresses and extends the first extension assembly; and a second extension assembly consisting of one or more of the first extension assemblies, a first end, and a second end.

[0049] Clause 32: The extension device according to Clause 31, wherein during rotation of the first end relative to the second end, the first extension component maintains a compressed state or an extended state.

[0050] Clause 33: An extension device according to Clause 31 or 32, wherein rotation of the first end relative to the second end compresses and extends the second extension component.

[0051] Clause 34: An extension device according to any one of Clauses 31 to 33, wherein when the second extension component is in an extended state, the first component is pivoted relative to the second component to compress and extend the first extension component.

[0052] Clause 35: An extension device pursuant to any one of Clauses 31 to 34, wherein the first extension component comprises a plurality of scissor extenders.

[0053] Clause 36: An extension device pursuant to any one of Clauses 31 to 35, wherein the second extension component comprises a Kresling structure. Attached Figure Description

[0054] Further advantages and details will now be described in more detail with reference to the exemplary embodiments illustrated in the accompanying drawings, in which: Figure 1A and Figure 1B A scissor extender according to a non-limiting embodiment is shown; Figures 2A to 2C An extended truss according to a non-limiting embodiment is shown; Figure 3 An extended truss according to a non-limiting embodiment is shown; Figures 4A to 4C show views of the extension truss according to a non-limiting embodiment; Figures 5A to 5D show views of the extended truss in a compressed state according to a non-limiting embodiment; Figure 6A to Figure 6J A view of an extended truss in an extended state according to a non-limiting embodiment is shown; Figure 7 A hierarchical expansion device according to a non-limiting embodiment is shown; Figure 8A and Figure 8B A connection mechanism for use in a tiered expansion device is shown according to a non-limiting embodiment; Figure 9A A graded expansion device in a compressed state is shown according to a non-limiting embodiment; Figure 9B A tiered extension device in an extended state according to a non-limiting embodiment is shown; and Figures 10A and 10B illustrate a Kresling structure for use in a hierarchical expansion device according to a non-limiting embodiment. Detailed Implementation

[0055] For the purposes described below, the terms “end,” “upper,” “lower,” “right,” “left,” “vertical,” “horizontal,” “top,” “bottom,” “lateral,” “longitudinal,” and their derivatives should be associated with the orientation of the invention as shown in the accompanying drawings. It should be understood that, unless expressly stated otherwise, the invention may take various alternative variations and sequences of steps. It should also be understood that the specific devices and processes illustrated in the drawings and described in the following specification are merely exemplary embodiments or aspects of the invention. Therefore, specific dimensions and other physical features associated with the embodiments or aspects disclosed herein should not be considered limiting.

[0056] Unless explicitly stated otherwise, aspects, parts, elements, structures, actions, steps, functions, instructions, etc., used herein should not be construed as critical or essential. Furthermore, as used herein, the articles “a” and “an” are intended to include one or more items and may be used interchangeably with “one or more” and “at least one.” When only one item is intended, the term “an” or similar language is used. Additionally, as used herein, the terms “has,” “have,” “having,” etc., are intended to be open-ended terms. Furthermore, unless explicitly stated otherwise, the phrase “based on” is intended to mean “at least partially based on.”

[0057] In a non-limiting embodiment, an extension device that can be compressed and extended is provided. In a non-limiting embodiment, the extension device may include an extension truss that provides structural support at the extended location. In a non-limiting embodiment, the extension truss can be "popped out" by expanding from a substantially flat starting position (e.g., compressed) into a three-dimensional (3D) shape (e.g., having a shaped cross-section). The extension truss may be formed from one or more stacked units connected in series (e.g., as longitudinal members of a plurality of units). Each unit may contain at least three extension mechanisms laterally connected together, although it will be understood that various numbers of extension mechanisms can be used to generate units for the extension truss.

[0058] As used herein, the term "extension mechanism" can refer to any mechanical device configured to expand to an extended (e.g., expanded) state and contract to a compressed state. Expansion and contraction can occur along one or more directional axes. An extension mechanism can include, for example, a scissor extender. As used herein, the terms "scissor extender" and "scissor mechanism" can refer to a device having at least two rotatably connected members such that the two members can be rotated to an expanded position and to a compressed position by changing the relative angle between the members. The members of a scissor extender can rotate in the same plane. A scissor extender can include a joint, such as a swivel joint, that rotatably connects the two members in the same plane. The joint can be arranged at the center of the longitudinal axis of each member or can be arranged off-center from one or more of the longitudinal axes of the members. For example, an asymmetrical scissor mechanism can include a swivel joint that connects the two members at a location off-center from the longitudinal axis of one or more of the members. A symmetrical scissor mechanism can include a swivel joint that connects the two members at the center point of the longitudinal axis of each member.

[0059] refer to Figure 1A and Figure 1B The diagram shows scissor extenders 100 and 110, which are non-limiting embodiments of the extension trusses discussed herein. Figure 1A The scissor extender 100 shown includes a first member 102 and a second member 104, each having a longitudinal axis 108. The first member 102 is rotatably connected to the second member 104 at the center (e.g., midpoint) of the longitudinal axis 108 via a swivel joint 106. Figure 1A The scissor extender 100 shown is substantially symmetrical, although symmetry is not required in the non-limiting embodiments.

[0060] Figure 1B The scissor extender 110 shown includes a first member 112 and a second member 114, each having a longitudinal axis 118. The first member 112 is rotatably connected to the second member 114 via a swivel joint 116 at a point off-center from the longitudinal axis 118 (e.g., between the midpoint and the end point along the length of member 112 or 114). Figure 1B As shown, components 112 and 114 can be connected at the same eccentric point along the longitudinal axis of each component, or they can be connected at an eccentric point along the longitudinal axis of one component (e.g., 112) and at a center point or different eccentric points along the longitudinal axis of the other component (e.g., 114). Due to the off-center connection points, Figure 1BThe scissor extender 110 shown is asymmetrical. In a non-limiting embodiment, Figure 1B The lengths of components 112 and 114 shown can be longer than Figure 1A The lengths of components 102 and 104 are shown in the figure.

[0061] Continue to refer to Figure 1A and Figure 1B The connectors 109 and 119 on the end portions of the first members 102, 112 and / or the second members 104, 114 can be used to connect another scissor extender in series to form an elongated length of the scissor extender. The connectors 109, 119 and / or co-positioned connectors (e.g., universal joints, flexures, etc.) can be used to laterally connect another scissor extender to form a unit of at least three scissor extenders connected laterally. It will be understood that different arrangements of members and connectors may be used in non-limiting embodiments.

[0062] Components 102, 112, 104, and 114 can be made of any suitable material such as, but not limited to, aluminum, steel, plastic, etc. As an example, the components can be molded, formed, and / or 3D printed. It will be understood that various different materials and manufacturing methods can be used in non-limiting embodiments.

[0063] refer to Figure 2A and Figure 2B A unit of an extension truss 200 according to a non-limiting embodiment is shown. For illustrative purposes, the extension truss 200 is illustrated in an deployed state 201, such that the first scissor extender 202 is at the joint. u 2 Connected to the second scissor extender 204 and at the joint u 3 The second scissor extender 204 is connected to the third scissor extender 206. Under the folded (connected) condition 208, the second scissor extender 204 is at the joint. u 1 The connector is attached to the third scissor extender 206. As an example, the folded, compressed front view outline 208 shows a substantially flat extension device 200, in which the connector... u 1 The angle of the component at the location is greater than 135 degrees and / or the joint u 2 and u 3 The angle between the components is less than 30 degrees. It should be understood that, due to the physical shape of the components, various angles can exist between them. Figure 2A The extended truss 200 in a compressed state is shown and Figure 2B The extended truss is shown in its extended state.

[0064] exist Figure 2BIn the diagram, the folded unfolded outline 208 shows the extended truss 200 in a pop-up extended state, where, as an example, at the joint... u 1 The angle of the component at the joint is similar to or closer to (e.g., within 10 to 20 degrees, etc.) the angle of the component at the joint. u 2 and u 3 The angle of the component at the location. In the extended state (or extended state), the joint... u 1 The angle of the component and the joint u 2 and u 3 The difference between the angles of the components can be smaller than the difference of such angles in the compressed state. In a non-limiting embodiment, the extension truss is substantially flat in its compressed state and “pops out” when it transitions to the extension state to form a triangular cross-section in an example using a laterally connected, tandemly linked scissor extender. In a non-limiting embodiment, the extension truss can be a one-degree-of-freedom deployable structure with triangular cross-sectional regions in its deployed state to provide advantageous inertial and stiffness characteristics. In a non-limiting embodiment, other cross-sectional geometries such as quadrilateral or polygonal variants can be achieved through mirrored components and / or other similar modifications.

[0065] Now for reference Figure 2C According to a non-limiting embodiment, Figure 2B Another view of the extension truss 200 shown in the figure. Figure 2C A shorter scissor extender is shown. b i Side and longer asymmetrical scissor extenders a i side.

[0066] Now for reference Figure 3 The diagram shows an extended truss 300 in an expanded, compressed state according to a non-limiting embodiment. Figure 3 The extension truss 300 shown comprises two units 302, 304 connected in series. As shown, scissor extenders connected in series form each side of the extension truss 300.

[0067] Referring now to FIG4A, a plan view of an extension truss unit according to a non-limiting embodiment is shown. FIG4B shows a front view of the extension truss shown in FIG4A, and FIG4C shows a top view of the extension truss shown in FIG4A. The extension truss unit combines two different scissor mechanisms connected by a swivel joint. FIG4A shows the longer, asymmetrical scissor extender in the middle.a i and short scissor extenders on both sides b i Longer asymmetrical scissor extender a i Through a two-degree-of-freedom (DOF) joint and a shorter side b i Connection. This facilitates the opening of this structure in a essentially straight line. The long, asymmetrical shears are made of... l2 (Offset length) and l3 (Half the length of the scissors) Description. Side scissors are used as half the length of the scissors. l1 Description. Given l1 , l2 and l3 Angles can be used α The extension truss is fully defined, thus making it a single-DOF mechanism. It will be understood that other lengths can be used, such that the two members of the asymmetrical shear are offset from those having… l2 and (2x) l3 The components of combined length are rotatably connected at the center point of the longitudinal axis formed by the combination of the components.

[0068] In a non-limiting embodiment, in order to construct an extended truss, the phase angle can be... α i of i = 1 : I The parameters are evaluated under several conditions. Given l1 , l2 , l3 and α i The other parameters shown in Figures 4A to 4C can be determined by the following equations: Based on these parameters, and according to a non-limiting embodiment, the following constraints can be satisfied for a kinematically feasible extended truss: Equations (8), (9), and (10) describe the triangle inequality constraints applicable to some non-limiting embodiments. Equation (11) describes the constraints of the trapezoid generated by combining multiple expanding truss elements shown in Figure 4A. To construct such a system with components of thickness, the constraints can be based on the component thickness. t Constraints are imposed on the link length and phase angle: In a non-limiting embodiment, to facilitate the pop-up functionality when the system is fully closed and fully open, the following two additional constraints can be added: in θ 1 It is the folding angle of the system, and θ I This is the final angle of the triangle, in radians. It will be understood that various additional and / or different constraints may be applied in non-limiting embodiments.

[0069] Referring to Figures 5A through 5D, an extension truss 500 according to a non-limiting embodiment is shown. The extension truss 500 shown in Figures 5A through 5D is a single unit. In a non-limiting embodiment, multiple units may be stacked (e.g., connected in series) to form a longer truss 500. Figure 5A shows a top view of the extension truss 500 in a compressed state. The extension truss includes a first scissor extender 504 in the form of an asymmetric scissor extender having a first member and a second member. The first member has a first portion 503 and a second portion 505 separated by a swivel joint 521, and the second member has a first portion 507 and a second portion 509 separated by a swivel joint 521 connected to the first member. In a non-limiting embodiment, the lengths of the first portions 503, 507 of the first and second members may be shorter than the second portions 505, 509 of the first and second members. A second scissor extender 502, a third scissor extender 506, a fourth scissor extender 508, and a fifth scissor extender 510 are shown connected to the first scissor extender 504. Connector 512 can be used to rotatably connect the shorter ends 503, 507 of the first scissor extender 504 to scissor extenders 506 and scissor extender 510. Connectors 511, 513, 515, 517, 519 can have two DOF movements for connecting different scissor extenders in the unit. Connectors 511, 513, 517, 519 can also be used to connect additional units and / or scissor extenders in series. In some non-limiting embodiments, connectors 515, 517 may not be connected to additional units or scissor extenders, but in other non-limiting embodiments, one or more additional scissor extenders (not shown in Figures 5A to 5D) can be added to provide additional structural support at connector 515.

[0070] Figure 5B shows a perspective view of the extension truss 500 shown in Figure 5A in a compressed state according to a non-limiting embodiment. Figure 5C shows a side view of the extension truss 500 shown in Figure 5A in a compressed state according to a non-limiting embodiment. Figure 5D shows a front view of the extension truss 500 shown in Figure 5A in a compressed state according to a non-limiting embodiment.

[0071] In a non-limiting embodiment, the elements of the extension truss 500 are configured to form a substantially triangular cross-section when in a compressed (e.g., folded) state (e.g., FIG. 5D), the cross-section having a height greater than zero (e.g., at least 0.01% of the length of the member of the extender). In this way, the sides of the units at the top in the compressed position (e.g., the first sides of the shorter extenders 506, 510 and the second sides of the shorter extenders 502, 508) are not in a singular state, thereby allowing the sides to bend upward and downward to “pop out” into a triangular cross-section with a greater height (e.g., FIG. 6E).

[0072] Refer to Figure 6A to Figure 6J Figure 6A to 69 show an extension truss 600 according to a non-limiting embodiment. Figure 6F Figures 5A to 5D show the extended truss in its extended state. Figure 6A shows a top view of the extended truss 600 in its extended state. The extended truss includes a first scissor extender 604 in the form of an asymmetric scissor extender having a first member and a second member. A second scissor extender 602, a third scissor extender 606, a fourth scissor extender 608, and a fifth scissor extender 610 are shown connected to the first scissor extender 604. A connector 612 can be used to rotatably connect the shorter ends 603, 607 of the first scissor extender 604 to the scissor extenders 606 and 610. Figure 6B shows a perspective view of the extended truss 600 shown in Figure 6A in its extended state according to a non-limiting embodiment. Figure 6C shows a side view of the extended truss 600 shown in Figure 6A in its extended state according to a non-limiting embodiment. Figure 6D shows a bottom view of the extended truss 600 shown in Figure 6A in its extended state according to a non-limiting embodiment. Figure 6E shows a front view of the extended truss 600 shown in Figure 6A in an extended state according to a non-limiting embodiment.

[0073] Figure 6F A perspective view of the extended truss 600 shown in FIG6A in an extended state according to a non-limiting embodiment is shown. Figure 6F A joint 614 is shown for laterally attaching different scissor extenders within a unit. Joint 614 may comprise a combination of swivel and hinge joints. To connect different scissor extenders together, any type of joint connection mechanism that allows the sides to pop out into a truss structure when deployed can be used. In some non-limiting embodiments, a flexure may be used as a joint connecting the members. The flexure may be compliant, such as, but not limited to, metal, plastic, and / or rubber flexures. In non-limiting embodiments, various types of joints can be used to rotatably connect the members of each scissor extender to laterally connect different scissor extenders together within a unit and to connect a section of scissor extenders in series.

[0074] In a non-limiting embodiment, connector 614 may comprise a bendable wire, fiber, and / or other movable material similar to a ball joint. In a non-limiting embodiment, connector 614 may be a two-DOF connection, such as a rotary joint combined with a hinged joint (e.g., a hinged joint that rotates freely between scissor faces), as... Figure 6F As shown in the figure. Alternatively, in some non-limiting embodiments, ball joints can be used. To connect a section of scissor extenders in series, the ends of the scissor extender components can be designed to include stamped overhang portions with movable pins and spokes that adapt once past the outer flange. In non-limiting embodiments, such designs can also be used to rotatably connect the components of each scissor extender.

[0075] Figure 6G A top view of an extension truss 600 in an extended state, according to a non-limiting embodiment, is shown. Figure 6H A perspective view of an extension truss 600 with a locking mechanism 616 attached, according to a non-limiting embodiment, is shown. Figure 6I A top view of an extension truss 600, in a non-limiting embodiment, is shown, in which the locking mechanism 616 is not attached. Figure 6J A perspective view of an extension truss 600, according to a non-limiting embodiment, is shown where the locking mechanism 616 is not attached. In a non-limiting embodiment, one or more locking mechanisms may be configured to lock a first scissor extender, a second scissor extender, and / or a third scissor extender in at least a partially extended state. In a non-limiting embodiment, the locking mechanism may include cables, pins, ratchets, hydraulic clamps, etc. In some non-limiting embodiments, the locking mechanism may include additional structural components that latch each other to transform the scissor components into a stable triangular truss or another truss shape. Once such supplementary elements are engaged, they can generate a defined shape, such as a triangle, to increase additional structural integrity. This increased rigidity helps the system withstand long-term loads without collapsing back to its compressed or initial state.

[0076] In non-limiting embodiments, the extension truss may include extension mechanisms other than scissor extenders. For example, one or more extension mechanisms of tandem length may be used to form the extension truss. In some non-limiting embodiments, one or more sides of the extension truss may include non-scissor extension mechanisms, and one or more sides may include scissor extension mechanisms. Furthermore, it will be understood that in some non-limiting embodiments, the extension truss may be constructed from different units connected in series, such that at least one unit includes an asymmetric scissor extender as described herein. Other units may include all symmetric scissor extenders and / or extension mechanisms of different types. Therefore, in non-limiting embodiments, the stacked units need not be identical units, but can vary.

[0077] In non-limiting embodiments, extension trusses can be used for a variety of purposes to provide rapid deployment, high stability, and compact storage capacity. For example, in developing deployable structures for satellites, spacecraft, and space stations, extension trusses can provide lightweight, compact, yet robust solutions. In construction applications, extension trusses can be used for temporary or modular structures, particularly in emergency or disaster relief scenarios where rapid setup and stability are critical. Military and defense applications may use extension trusses to quickly establish temporary bases, fortifications, or other structures in diverse and challenging terrains. In the automotive industry, extension trusses can be applied to vehicle frames or other components requiring robust, lightweight, and compact structures. Furthermore, extension trusses can be used for robotic arms or structural supports to enhance range of motion and strength in robotic applications. Marine engineering applications, such as underwater vehicles and structures, can leverage the compactness and robustness of the structure in conjunction with extension truss designs for deployable components.

[0078] In healthcare applications, extension trusses can be used for the rapid deployment of medical shelters or field hospitals, providing a reliable and fast-response solution. Such structures can also be used for the rapid setup and dismantling of theater stages, concert structures, and outdoor or indoor event infrastructure. In the renewable energy sector, extension trusses can be used to create easily deployable and adaptable structures for wind and solar power plants to optimize efficiency. Telecommunications applications include the use of extension truss-based mobile towers and antennas for rapid deployment and scalability. Extension trusses can also be used to provide temporary or deployable platforms, shelters, or other infrastructure at bus and train stations or airports.

[0079] Extension trusses can be used to develop consumer goods such as foldable furniture, camping equipment, or foldable storage solutions. In logistics and supply chain management, extension trusses can be used to create adjustable shelving or storage solutions that can be quickly deployed or retracted as needed. Extension trusses can also be used for temporary livestock shelters or rapidly set-up greenhouses, providing flexibility for seasonal or migratory agricultural practices. It will be understood that one or more extension trusses described herein have a variety of other uses and applications.

[0080] In a non-limiting embodiment of the extension truss, the substructures (e.g., each length of the scissor extenders connected in series) can achieve multiple reoriented axes. This unique combination allows both the extension and expansion of the structure to simultaneously generate a triangular truss configuration or other shapes depending on the number of laterally connected scissor extenders (e.g., the number of sides of the unit). In a compressed (e.g., retracted) state, the longer member of at least one of the scissor extenders (e.g., asymmetric scissor extenders) can have a width approximately equal to two smaller scissor extenders to allow them to be packed flat. When the extension device is deployed (e.g., expanded into an extended state), the width of the longer scissor extender changes at a different rate than the shorter scissor extenders, forcing the longer scissor extenders to compensate by pivoting out of the plane and popping out (e.g., rotating relative to the plane) into a triangular shape (e.g., in the case of three scissor extenders). This increases the minimum bending moment of inertia when the structure is deployed, making it more resistant to bending and buckling. In a non-limiting embodiment, as the truss extension increases, the truss flexural modulus (a metric used to evaluate bending stiffness measured in the deployed state) increases at a greater rate than that of shears, and in one example, has an improvement of up to 71% compared to a solid beam.

[0081] In a non-limiting embodiment, the extended truss can be designed and constructed by modeling the structure as a beam-based structure using the finite element method (FEM) to estimate comparative structural behavior across different geometries and design parameters. While keeping the base material type and modulus of elasticity (E) constant, the stiffness of each beam varies primarily based on its bending moment of inertia: Moving the supporting mass blocks further away from the center of mass makes the geometry more resistant to bending and buckling. However, the local and global deformation modes used for trusses and lattice-based structures can be viewed as variations in the aspect ratio and density of the constituent beams. In a non-limiting embodiment, the flexural modulus can be estimated using the following equation through FEM analysis with cantilever beam testing: in E It is Young's modulus. I It is the bending moment of inertia. F It is the applied load.L It is the effective length of the mechanism, and d This refers to displacement. Maintaining constant mass, an extended truss with a square cross-section beam can achieve a 50% reduction advantage compared to a scissor mechanism with the same packing angle and mass, resulting in a rectangular cross-section. Tests on non-limiting embodiments show that the extended truss can achieve a 107% advantage over long-link scissors (e.g., a standard scissor mechanism) and a 114% advantage in bending compared to small-link scissors (e.g., a standard scissor mechanism). It will be understood that various different advantages and results can be achieved with different non-limiting embodiments.

[0082] Hierarchical expansion equipment In a non-limiting embodiment, the hierarchical expansion device may include a combination of first and second expansion mechanisms, such that each first expansion mechanism is configured to compress into a compressed state having a compressed length and extend into an extended state having an extended length, and that the second expansion mechanism includes a plurality of members configured to compress into the compressed state and extend into the extended state without changing the length of the plurality of members. Each of the plurality of members may include a first expansion mechanism of the plurality of first expansion mechanisms. In this way, the hierarchical expansion device can be layered relative to the expansion mechanisms. The hierarchical expansion device can be used as a high expansion ratio deployable structure for a variety of applications. In a non-limiting embodiment, the member is mechanically fastened at each end of the device to an object such as a plate by a pivotable connection mechanism, such that a first member of two or more members is pivotable relative to a second member of two or more members.

[0083] refer to Figure 7 A tiered extension device 700 according to a non-limiting embodiment is shown. The tiered extension device 700 includes a plurality of first extension mechanisms 702, 704, 706, 708, 710, 712. In the example shown, each first extension mechanism is a plurality of scissor extenders connected in series. It will be understood that any extension mechanism capable of compression and extension, such as, but not limited to, the pop-up extension truss described herein, can be used. The first extension mechanisms 702, 704, 706, 708, 710, 712 in… Figure 7 A support member is formed at the compression position shown. The support member may extend into an elongated support member to extend the distance between the first end 701 and the second end 703 of the tiered expansion device 700. The first end 701 and / or the second end 703 may comprise a plate or other object. Although in Figure 7 Six extension mechanisms 702, 704, 706, 708, 710, and 712 are shown, but it will be understood that any number of extension mechanisms may be used in different non-limiting embodiments.

[0084] Continue to refer to Figure 7 The arrangement of the first extension mechanism 702 relative to the first end 701 and the second end 703 can form a second extension mechanism. For example, connectors 714, 716, 718, 720, 722, and 724 can connect the first extension mechanism to the first end 701, and connectors 726, 728, 730, 732, 734, and 736 can connect the first extension mechanism to the second end 703. The connectors can be configured to pivot the first extension mechanism relative to the planes of the first end 701 and the second end 703. In this way, twisting the first end 701 and / or the second end 703 and applying pressure to compress them together can cause the connectors to pivot and fold the first extension mechanism into a substantially flat state (e.g., flat relative to the planes of the first end 701 and / or the second end 703).

[0085] Figure 7 A hierarchical expansion device 700 as a single unit is shown. It will be understood that multiple units can be combined and stacked in series to form an elongated expansion device. For example, Figure 7 The device 700 shown can be replicated and stacked on top, such that the second device is positioned on top of the first end 701. The second end (e.g., the bottom end) of the second unit can be separate from or identical to the first end 701 (e.g., integral with it).

[0086] Figure 8A A first extension mechanism 802 and a connecting mechanism 804 according to a non-limiting embodiment are shown. The first extension mechanism 802 and the connecting mechanism 804 can be used in... Figure 7 The configuration shown in the figure. The connecting mechanism 804 can be configured to pivot the first extension mechanism. Figure 8B A connection mechanism 804 is shown that connects to a plate 806, which acts as a first end, second end, or intermediate portion of a tiered extension device. The connection mechanism may include any joint or other device that pivotally connects two objects.

[0087] Figure 9A A hierarchical expansion device 900 in a compressed state is shown, wherein each of the first expansion mechanisms 902 is in a compressed state, and wherein the first expansion mechanism 902 has been folded in the compressed state as part of a second expansion mechanism component (e.g., the Kresling structure in the example shown). Figure 9B It shows the extended state from Figure 9A The hierarchical expansion device 900, wherein the first expansion mechanism 902 has been deployed in the extended state as part of the already extended second expansion mechanism component (e.g., the Kresling structure in the example shown).

[0088] Figures 10A and 10B illustrate a Kresling structure that can be used as one of two or more extension mechanisms in a non-limiting embodiment of a graded extension device. Figure 10A shows a top view and Figure 10B shows a perspective view. A first end 1001 and a second end 1003 are connected to members 1002, 1004, 1005, 1006, 1007, and 1008, each of which is a first extension mechanism. Dashed lines indicate a partially compressed state, where a member (e.g., 1004) pivots relative to the first end 1001 and / or the second end 1003.

[0089] It will be understood that the tiered extension device can be constructed from any combination of two or more types of extension devices. In a non-limiting embodiment, one or more first extension devices may include elongated members that expand and contract, such as a section of scissor extender, extension truss, telescopic member, etc. In a non-limiting embodiment, one or more second extension devices may include structures containing elongated members, such as Kresling structures (e.g., Kresling mechanisms), manual shearing aids, etc., which are configured to fold and / or contract with or without changing the length of the elongated member (e.g., having rigid elongated members).

[0090] A Kresling structure with rigid components and standard joints can consist of two main parts: an outer rigid member and an inner extendable member. This system can be configured with the height shown in Figure 10A. h ,radius r and torsion angle ϕ i To parameterize. The following additional parameters can be determined by the following equation: Among them l AB It is the side length of the hexagon, l BC It is the length of the outer component, and l AC It is an extendable internal component.

[0091] In some non-limiting embodiments, the following equation may be used in certain applications, although it will be understood that various other design constraints may be considered additionally or alternatively, depending on the application and other considerations: In the equation above, D It is the diameter of the fairing. H 0 It is the height of the fairing. H f It is the final deployment length. M It is the maximum effective payload. t It is half the thickness of the component. VIt is an approximation of the total volume. ρ It is the density of the material. n It is the discrete number of the scissor extension unit, and m It is the discrete number of the Kresling structure unit.

[0092] In a non-limiting embodiment, the design of a superstructure with continuous and integer parameters can be formulated as the following mixed-integer nonlinear procedure: in x = [ l 1, l 2, l 3, t , α i=1:I , r , ϕ i=1:I , h i=1:I ]and y = [ n,m ], where ℓ(·) is the objective function. The objective function can be task-specific. For example, a continuous and differentiable objective function can be chosen so that existing solvers can efficiently find a solution. Since slender members are prone to buckling, the chosen objective function can seek to minimize the member's aspect ratio. Given the design constraints of an example use case for a spacecraft and the task constraints of a 1km long structure, this formula can be used to generate feasible configurations. It will be understood that other and / or alternative formulas can be used to select design parameters.

[0093] Extended structures can accommodate and expand both by sliding, wrapping, and / or pivoting one or more members to manipulate the orientation of the material components and thus their volume. When fully deployed (e.g., extended), such structures can have a high length-to-width ratio, making them prone to bending and buckling. Therefore, the structural extension ratio (ER) (the ratio of final length to accommodated length) and flexural modulus (EI) can be considered for evaluating structures for load-bearing applications. In non-limiting embodiments, a single parameter such as the angle between the members of a scissor extender can represent the state of the structure. Structures designed to achieve a high extension ratio can maximize packing density by pivoting, sliding, and / or wrapping sub-components relative to each other. The volume of a pivoting 1-DOF mechanism, such as a scissor mechanism or Kresling, changes based on the rotation of the internal beams.

[0094] The extension ratio of a standard scissor extender can be expressed as: in α i , αf These are the initial and final angles of the scissors. l It is the length of the scissor's connecting rod. t It is the thickness of the connecting rod, and n This refers to the number of scissor units connected together. The expansion ratio of a scissor mechanism is the ratio of the cosine of the final angle between the components to the initial angle of the components. When there are many scissor units combined, this expansion ratio of the scissors can be approximated as the aspect ratio of a single component.

[0095] The expansion ratio of the Kresling mechanism can be expressed as: in r It is the radius of the mechanical device. ϕ i , ϕ f It is the angular offset between the top and bottom plates of the Kresling structure, and t This is the thickness of the Kresling member. In this example, the extension ratio is the ratio of the final angle to the initial angle, and can be approximated as the aspect ratio of the Kresling member.

[0096] To achieve the high extension ratios of these mechanisms, high aspect ratio elements are used that are prone to local buckling under load. Similarly, for other 1-DOF mechanisms using pivoting and sliding deployment, these designs contain only a single packing direction. This means that the potential extent of extension (e.g., the amount of expansion) is entirely determined by the dimensions of the initial boundary volume and the thickness of the individual members used to construct the mechanism. This problem becomes more pronounced in the practical design of deployable mechanisms when the original boundary dimensions are constrained, leading to thinner individual members and making the design prone to buckling and local deformation.

[0097] In a non-limiting embodiment, non-planar hierarchies can be used to increase the extension ratio while maintaining a favorable aspect ratio of the components. As an example, scissor extenders and Kresling patterns can be used in combination. This structure extends hierarchically by performing multiple sequential reorientations on individual elements. This hierarchical combination allows for a tighter packing of substructures to achieve a high extension ratio. The extension ratio of the hierarchically combined structure is approximately as follows: in α f It's the angle of the scissor mechanism. ϕ i It is the Kresling torsion angle. t It refers to the thickness of the scissor linkage. n It is the number of scissor units. l It is the length of the scissor linkage, andr This refers to the radius of the Kresling structure. Hierarchical combinations increase the number of adjustable parameters for high scalability; as an example, this includes the number of shear units, the Kresling deployment angle, the Kresling radius, and the component aspect ratio.

[0098] In a non-limiting embodiment, the hierarchical combination of mechanism transformations occurs sequentially. It can be performed first... T [ ϕ The Kresling transformation of the scissor mechanism is used to reorient the scissor mechanism. Then, the transformation of the scissor mechanism... T [ α Sub-components can be deployed smoothly, increasing system scalability. These transformations may be non-replaceable; for example, the transformation of the scissor mechanism in the folded state. T [ α This may not lead to an effective extension of the mechanism. It will be understood that different sequences may be used in non-limiting embodiments, such that the scissor mechanism transformation occurs first.

[0099] By controlling the orientation of substructure stacking through hierarchical design, high packaging efficiency can be achieved without increasing the component aspect ratio. This demonstrates the benefits of hierarchical deployable structures for scaling ratios. The stiffness of the deployed structure depends on the final deployed architecture.

[0100] like Figure 7 , Figure 8A , Figure 8B , Figure 9A and Figure 9B As illustrated, a non-limiting embodiment can use a scissor extender for slender members of a tiered extension device. A standard scissor mechanism has a low flexural modulus when fully deployed, making it prone to bending failure. Using a standard scissor mechanism as a substructure provides a flexural modulus (bending stiffness) lower than that of a solid beam. As described herein, a non-limiting embodiment can use an extension truss for slender members of a tiered extension device to improve structural support and strength. It will be understood that various other extension mechanisms can be used in the non-limiting embodiments.

[0101] Due to the large number of components and the scale of the design, superstructure analysis of tiered extension equipment can be computationally difficult and / or infeasible. However, scissor mechanisms and / or extension trusses and Kresling structures can be approximated as “line bodies” to enable faster and more computationally efficient evaluations. A “line body” in the simulation can represent a one-dimensional solid with a defined cross-section but no surface, making it sufficient to represent slender structures such as beams, rods, and cables. Line bodies can account for bending, axial deformation, and torsional effects. Compared to modeling the full 3D geometry of slender structures, line bodies can significantly reduce computational resources and time. For example, a multi-component extension truss can be approximated as a line body with a hollow tube cross-section. This cross-section is designed to have the same total area as the extension truss cross-section, and the same area moment of inertia as the extension truss cross-section subjected to maximum stress. The homogenized beam cross-section can be calculated by first running a finite element tensile test to calculate the effective cross-sectional area (A) based on the Young's modulus (E), tensile force (F), and strain (ϵ) of the material used, such that: A effective = F / ϵE Next, the bending stiffness can be tested by applying deformation and measuring the resultant force. Approximating the beam as an Euler-Bernoulli beam with an aspect ratio > 10, the effective beam area moment of inertia can be... I = FL 3 / 3 δE Then, a hollow circular cross-section with an area and moment of inertia matching the inner and outer diameters can be solved using the following formula: While this linear approximation may not perfectly match the original extended truss, the homogenized version retains some characteristics and enables functional analysis of the complete structure. A similar homogenization can be performed to approximate the behavior of the entire 1km-long superstructure, and loads can be applied as parametric values ​​to assess application-specific requirements.

[0102] In a non-limiting embodiment, the hierarchical expansion device can be designed to prevent or reduce congestion. For example, 1-DOF systems are prone to congestion due to numerous constraints. Therefore, hierarchically combining two such systems into a hierarchical expansion device can lead to multiple congestion problems. In a non-limiting embodiment, the hierarchical expansion device can be designed by modeling this potential point of failure. For example, Monte Carlo simulations can be used to simulate the effect of tolerance noise on the unit extension truss mechanism. This allows for the simulation of uncertainties and variations when joint tolerances are affected by manufacturing processes or other external factors. For each different configuration within the size range, several (e.g., 50) separate examples can be generated to minimize the norm of the joint distance, effectively allowing the identification of the lowest energy configuration for each attitude.

[0103] While embodiments have been described in detail for illustrative purposes, it should be understood that such details are for illustrative purposes only, and this disclosure is not limited to the disclosed embodiments. Rather, this disclosure is intended to cover modifications and equivalent arrangements within the spirit and scope of the appended claims. For example, it should be understood that this disclosure contemplates that, to the extent possible, one or more features of any embodiment may be combined with one or more features of any other embodiment.

Claims

1. An extension truss comprising a plurality of units, each unit comprising: A first scissor extender includes a first component and a second component, the second component being rotatably connected to the first component at an eccentric point along the longitudinal axis of the first component. A second scissor extender is connected to the first scissor extender, the second scissor extender including a first component and a second component rotatably connected to the first component; as well as A third scissor extender is connected to the first scissor extender, the third scissor extender including a first component and a second component rotatably connected to the first component.

2. The extension truss of claim 1, wherein the first and second components of the first scissor extender each include a first end and a second end, wherein the first and second components of the second scissor extender each include a first end and a second end, wherein the first and second components of the third scissor extender each include a first end and a second end, and wherein each unit further includes a plurality of joints comprising: A first connector connects a first end of a first component of the second scissor extender to a second end of a second component of the first scissor extender. The second connector connects the first end of the second component of the second scissor extender to the second end of the first component of the first scissor extender. The third connector connects the second end of the second component of the third scissor extender to the first end of the first component of the first scissor extender. as well as A fourth connector connects the second end of the first component of the third scissor extender to the first end of the second component of the first scissor extender.

3. The extension truss of claim 2, wherein each of the plurality of joints comprises a compliant flexure.

4. The extension truss according to any one of claims 1 to 3, wherein each unit further comprises at least one additional scissor extender, the scissor extender comprising a first member and a second member rotatably connected to the first member, the at least one additional scissor extender being connected to the first scissor extender, the second scissor extender and / or the third scissor extender.

5. The extension truss according to any one of claims 1 to 4, wherein the plurality of units are arranged as support members of a crestline structure.

6. The extension truss according to any one of claims 1 to 5, further comprising a locking mechanism configured to lock the first scissor extender, the second scissor extender and / or the third scissor extender in a state of at least partial extension.

7. The extension truss according to any one of claims 1 to 6, wherein the lengths of the first and second members of the third scissor extender and / or the second scissor extender are shorter than the lengths of the first and second members of the first scissor extender.

8. The extension truss according to any one of claims 1 to 7, wherein the first scissor extender further comprises a swivel joint rotatably connecting a first component and a second component of the first scissor extender.

9. An extension device comprising: A plurality of first scissor extenders are connected in series, at least one of the plurality of first scissor extenders comprising a first member and a second member, the second member being rotatably connected to the first member at an eccentric point along the longitudinal axis of the first member. A plurality of second scissor extenders are connected in series, each of the plurality of second scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of second scissor extenders being connected to the plurality of first scissor extenders; as well as A plurality of third scissor extenders are connected in series, each of the plurality of second scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of third scissor extenders being connected to the plurality of first scissor extenders.

10. The extended device according to claim 9, further comprising: Multiple connectors connect the multiple first scissor extenders to the multiple third scissor extenders and the multiple second scissor extenders.

11. The extension device of claim 10, wherein the plurality of joints comprises compliant flexural elements.

12. The extension device according to any one of claims 9 to 11, comprising: A plurality of fourth scissor extenders are connected in series, each of the plurality of fourth scissor extenders including a first member and a second member rotatably connected to the first member, the plurality of fourth scissor extenders being connected to the plurality of second scissor extenders and the plurality of third scissor extenders.

13. The extension device according to any one of claims 9 to 12, wherein the plurality of first scissor extenders form a first elongated member, wherein the plurality of second scissor extenders form a second elongated member, and wherein the plurality of third scissor extenders form a third elongated member, the extension device further comprising: A first end connector is located at the first end of each of the first elongated member, the second elongated member, and the third elongated member; as well as A second end connector is provided at the second end of each of the first elongated member, the second elongated member, and the third elongated member. The first elongated member, the second elongated member, and the third elongated member are arranged to include members of a crestline structure that are connected to the top of at least one first end connector and to the bottom of at least one second end connector.

14. The extension device according to any one of claims 9 to 13, further comprising a locking mechanism configured to lock the pop-up extender in at least a partially extended position.

15. The extension device according to any one of claims 9 to 14, wherein the locking mechanism comprises a member configured to rigidly connect two components of at least one scissor extender.

16. The extension device according to any one of claims 9 to 15, wherein the length of the first member and the second member of each second scissor extender is shorter than the length of the first member and the second member of each first scissor extender.

17. The extension device according to any one of claims 9 to 16, wherein the extension device is configured to be substantially flat in a configuration in which each of the first scissor extenders, each of the second scissor extenders and each of the third scissor extenders is substantially compressed, and wherein the pop-up extender is configured to form a structure having a three-dimensional cross-section in a configuration in which each of the first scissor extenders, each of the second scissor extenders and each of the third scissor extenders is at least partially extended.

18. A unit of a pop-out extension truss, comprising: A first scissor extender includes a first component and a second component, the second component being rotatably connected to the first component at an eccentric point along the longitudinal axis of the first component. A second scissor extender is connected to the first scissor extender, the second scissor extender including a first component and a second component rotatably connected to the first component; as well as A third scissor extender is connected to the first scissor extender, the third scissor extender including a first component and a second component rotatably connected to the first component.

19. The unit of claim 18, wherein the first component and the second component of the first scissor extender each include a first end and a second end, wherein the first component and the second component of the second scissor extender each include a first end and a second end, and wherein the first component and the second component of the third scissor extender each include a first end and a second end, the unit further comprising: A first connector connects a first end of a first component of the second scissor extender to a second end of a second component of the first scissor extender. as well as The second connector connects the second end of the second component of the third scissor extender to the first end of the first component of the first scissor extender.

20. The unit of claim 19, wherein the first joint and the second joint each comprise a compliant flexure.

21. The unit according to any one of claims 18 to 20, wherein the lengths of the first and second components of the second scissor extender are shorter than the lengths of the first and second components of the first scissor extender.

22. The unit according to any one of claims 18 to 21, comprising at least one additional scissor extender, the scissor extender including a first member and a second member rotatably connected to the first member, the first member and the second member of the second scissor extender each having a first end and a second end, and the at least one additional scissor extender being connected to the first scissor extender, the second scissor extender and / or the third scissor extender.

23. The unit according to any one of claims 18 to 22, further comprising a locking mechanism configured to lock the first scissor extender, the second scissor extender and / or the third scissor extender in a state of at least partial extension.

24. The unit according to any one of claims 18 to 23, wherein the lengths of the first and second components of the second scissor extender are shorter than the lengths of the first and second components of the first scissor extender, and wherein the lengths of the first and second components of the third scissor extender are shorter than the lengths of the first and second components of the first scissor extender.

25. A hierarchical expansion device, comprising: Multiple first extension mechanisms, each configured to be compressed into a compressed state having a compressed length and extended into an extended state having an extended length; as well as The second extension mechanism includes a plurality of components configured to be compressed into a compressed state and extended into an extended state without changing the length of the plurality of components, each of the plurality of components including a first extension mechanism of the plurality of first extension mechanisms.

26. The graded extension device of claim 25, wherein each of the plurality of first extension mechanisms includes at least one scissor extender.

27. The tiered expansion device of claim 25 or 26, wherein each of the plurality of first expansion mechanisms comprises a pop-up extension truss.

28. The graded expansion device according to any one of claims 25 to 27, wherein the second expansion mechanism comprises a crestline structure, and wherein the plurality of components comprises an elongated support for the crestline structure.

29. The tiered expansion device according to any one of claims 25 to 28, further comprising a locking mechanism configured to lock the tiered expansion device in a state of at least partial extension.

30. The tiered expansion device according to any one of claims 25 to 29, further comprising a pivotable joint connecting each end of each of the plurality of components to at least one object.

31. An extension device comprising: A first extension assembly comprising two or more mechanically fastened members, such that a first member of the two or more members is pivotable relative to a second member of the two or more members, wherein the pivoting of the first member relative to the second member compresses and extends the first extension assembly. as well as The second extension component consists of one or more first extension components, a first end, and a second end.

32. The extension device of claim 31, wherein the first extension component maintains a compressed state or an extended state during rotation of the first end relative to the second end.

33. The extension device according to claim 31 or 32, wherein the rotation of the first end relative to the second end compresses and extends the second extension component.

34. The extension device according to any one of claims 31 to 33, wherein when the second extension component is in an extended state, the first component is pivoted relative to the second component to compress and extend the first extension component.

35. The extension device according to any one of claims 31 to 34, wherein the first extension component comprises a plurality of scissor extenders.

36. The extension device according to any one of claims 31 to 35, wherein the second extension component comprises a Kreslin structure.

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