We develop a new type of deployable bar structure that simulates the folding process of rigid origami called Yoshimura-pattern. Since Yoshimura-pattern origami has multi-DOFs (degrees-of-freedom), it can be folded symmetrically and asymmetrically with respect to parallel valley fold-lines. In our proposal, additional revolute joints are assigned to restrict asymmetric motion of the mechanism and reduce DOFs. To confirm the deployability, we evaluate the DOFs of the mechanisms in various states using singular value decomposition of equilibrium matrix. The size of bars and the offset of joints are rigorously considered. Small-scale physical models are also assembled to confirm the deployability.
