Design and analysis of modular array deployable antenna mechanism based on one Waterbomb-Ori and four Miura-Ori basic unit mechanism

• The MADA mechanism based on thick-panel origami was proposed. • Kinematic and dynamic models of the MADA mechanism have been established. • The deploying dynamics of the MADA mechanism were optimized and analyzed. • A prototype of the mechanism was developed to validate the theoretical model. The advancement of the aerospace industry necessitates the implementation of deployable space mechanisms. Spaceborne planar antennas must exhibit high stiffness, exceptional precision, and robust stability to withstand the harsh conditions of the space environment. This research introduces the design of the modular array deployable antenna (MADA) mechanism. A multi-vertex hybrid crease basic unit with three degrees of freedom (DoFs) is developed, consisting of one Waterbomb-Origami (Waterbomb-Ori) basic unit and four Miura-Origami (Miura-Ori) basic units (1W4M). Employing thick-panel origami theory, a zero-thickness model of the 1W4M crease basic unit is systematically constructed. Based on this model, the MADA mechanism is proposed. A kinematic model of the MADA mechanism is derived using the closed vector method. The theoretical results are validated through simulation studies. A dynamic model of the MADA mechanism is established, and the deployment process is optimized according to mechanism equilibrium theory to improve operational stability. Finally, a prototype of the MADA mechanism is fabricated, and agreement between real models and numerical simulations demonstrates the ability of the proposed methodology to confirm its practical feasibility.