deployable, CORE, compliant mechanisms, origami, curved folding


This work describes a deployable compliant rolling-contact element joint (DCORE joint) that employs curved-folding origami techniques to enable transition from a flat to deployed state. These deployable joints can be manufactured from a single sheet of material. Two fundamental configurations of the D-CORE are presented. The first configuration allows for motion similar to that of a Jacob’s ladder when the joint is in a planar state while achieving the motion of a CORE when in the deployed state. The second configuration constrains all degrees of freedom to create a static structure when the joint is in the planar state and allows for the motion of a CORE in the deployed state. Curved-folding origami techniques can be used with both configurations to control the cam radius and range of motion of the D-CORE. Physical models are demonstrated in Tyvekr, polycarbonate, polypropylene, and metallic glass. A deployable translating platform constructed of an inversion of the D-CORE is also shown.

Original Publication Citation

Nelson, T. G., Lang, R. J., Magleby, S. P., & Howell, L. L. (2015). Curved-folding-inspired deployable compliant rolling-contact element (D-CORE). Mechanism and Machine Theory.

Document Type

Peer-Reviewed Article

Publication Date


Permanent URL






Ira A. Fulton College of Engineering and Technology


Mechanical Engineering

University Standing at Time of Publication

Full Professor