Deployable structures inspired by origami offer lightweight, compact, and reconfigurable solutions for robotic and architectural applications. We present a geometric and mechanical framework for Yoshimura-Ori modules that supports a diverse set of metastable states, including newly identified asymmetric "pop-out" and "hyperfolded" configurations. These states are governed by three parameters -- tilt angle, phase shift, and slant height -- and enable discrete, programmable transformations. Using this model, we develop forward and inverse kinematic strategies to stack modules into deployable booms that approximate complex 3D shapes. We validate our approach through mechanical tests and demonstrate a tendon- and pneumatically-actuated Yoshimura Space Crane capable of object manipulation, solar tracking, and high load-bearing performance. A meter-scale solar charging station further illustrates the design's scalability. These results establish Yoshimura-Ori structures as a promising platform for adaptable, multifunctional deployable systems in both terrestrial and space environments.

翻译：受折纸启发的可展开结构为机器人和建筑应用提供了轻量化、紧凑且可重构的解决方案。我们提出了一个针对吉村-折纸模块的几何与力学框架，该框架支持多种亚稳态，包括新发现的不对称“弹出”和“超折叠”构型。这些状态由三个参数——倾斜角、相位偏移和斜高——所控制，并支持离散化、可编程的形态转换。基于此模型，我们开发了正向与逆向运动学策略，将模块堆叠成可展开臂杆，以逼近复杂的三维形状。我们通过力学测试验证了该方法的有效性，并展示了一种由肌腱和气动驱动的吉村空间起重机，该装置具备物体操控、太阳跟踪和高负载性能。一个米级规模的太阳能充电站进一步证明了该设计的可扩展性。这些研究成果确立了吉村-折纸结构作为适应性强、多功能的可展开系统平台，在地面与太空环境中均具有广阔的应用前景。