Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an integrated structural system that can effectively balance the competing requirements of high packing efficiency, simple deployment, and precise morphing into multiple load-bearing configurations remains a significant challenge. This study introduces a new class of hyper-Yoshimura origami, which exhibits a wide range of kinematically admissible and locally metastable states, including newly discovered symmetric "self-packing" and asymmetric "pop-out" states. This metastability is achieved by breaking a design rule of Yoshimura origami that has been in place for many decades. To this end, this study derives a new set of mathematically rigorous design rules and geometric formulations. Based on this, forward and inverse kinematic strategies are developed to stack hyper-Yoshimura modules into deployable booms that can approximate complex 3D shapes. Finally, this study showcases the potential of hyper-Yoshimura with a meter-scale pop-up cellphone charging station deployed at our university's bus transit station, along with a 3D-printed, scaled prototype of a space crane that can function as an object manipulator, solar tracking device, or high-load-bearing structure. These results establish hyper-Yoshimura as a promising platform for deployable and adaptable robotic systems in both terrestrial and space environments.

翻译：受折纸启发的可展开结构为各类机器人与建筑应用提供了轻质、紧凑且可重构的解决方案。然而，创建一种能够有效平衡高收纳效率、简易展开及精确变形为多种承重构型等竞争性要求的集成结构系统，仍然是一个重大挑战。本研究提出了一类新型的超吉村折纸结构，其展现出广泛的运动学容许态与局部亚稳态，包括新发现的对称"自收纳"态与非对称"弹出"态。这种亚稳态是通过打破吉村折纸沿用数十年的设计规则而实现的。为此，本研究推导出一套新的数学严格的设计规则与几何公式。在此基础上，开发了正向与逆向运动学策略，将超吉村模块堆叠成可展开臂杆，以逼近复杂的三维形状。最后，本研究通过在我校公交枢纽部署的米级弹出式手机充电站，以及一个可作为物体操控器、太阳追踪装置或高承重结构的3D打印空间起重机缩比原型，展示了超吉村折纸的潜力。这些成果确立了超吉村折纸作为地面与空间环境中可展开、自适应机器人系统的一个前景广阔的平台。