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• A shape editing approach of single-DoF thick-panel deployable structures is proposed. • The mobility of thick-panel deployable structures is analyzed using screw theory. • The design of novel solar panels and space exposing platforms is further explored. Thick-panel deployable structures have great engineering prospects in aerospace large-scale structures. However, achieving any desired shape of the deployable structure without seams, compact folding, and single-degree-of-freedom (single-DoF) deployment is a significant challenge for aerospace engineering applications. In this study, we propose an approach to edit the shape of kirigami-inspired thick-panel structures that enable single-DoF flat deploying and compact folding. First, based on two-vertex six-crease kirigami-inspired TPUs, modular assembly of single-DoF thick-panel deployable structures are achieved. Second, the single-DoF characteristics of resulting thick-panel structures are verified using screw theory and topology. Third, panel cutting and merging of the assembled thick-panel structures is performed to ensure the topological closed-loop characteristics in the desired shape of the structures while maintaining its single-DoF characteristics. In addition, their potential engineering applications in space solar arrays and exposing platforms are further explored. The proposed method provides some references for the design of future thick-panel deployable structures. [ABSTRACT FROM AUTHOR]