In this chapter we consider a type of transformable structures, capable of executing large configuration changes in an autonomous way. In most cases, their configuration changes between a compact, packaged state and a large, deployed state: the transformation from the former to the latter state is called deployment. The reverse transformation is called retraction.Typically, deployable structures are used for ease of storage and/or transportation, and they are deployed into their operational configuration when required. The oldest example is the umbrella, whose folding properties are well known. In recent times, more compact umbrella structures that deploy automatically at the push of button have been designed.There are many deployable structures that are in everyday use, such as folding chairs, but here our focus will be on engineered structures, although the principles that will be established are applicable more generally.
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