Curved Compliant Facet Origami-Based Self-Deployable Gliding Wing Module for Jump-Gliding

In this paper, we propose a self-deployable origami structure and its application to a gliding wing module for jump-gliding. Generally, origami structures are composed of flat rigid facets. By using curved compliant facets instead of flat rigid facets, we endowed the origami structure with the ability to self-deploy and self-lock. When the origami structure is folded, the curved facets gradually flatten, and potential energy is stored on the flattened facets. By using the stored energy, the structure can rapidly deploy without an actuator. The geometry of the curved facet generates a notably high joint stiffness in the deployed state, which can be used as a self-locking mechanism. In jump-gliding, the gliding wing should be foldable and lightweight for efficient jumping and capable of rapid deployment for efficient gliding. By applying the suggested origami structure as a basic frame, the deployable gliding wing module can satisfy these requirements. The wing span of the module is 44.7 cm, and it weighs 20.3 g including a battery and a servo motor. The module can be folded in 1/8.1 of the deployed area, and it deploys within 350 ms when it needs to glide.