无需电源的折叠结构让传感器空投后自动变3D，省电又便宜。
A Passive Elastic-Folding Mechanism for Stackable Airdrop Sensors
- 用加热定型的弹性铰链实现被动折叠，无需复杂设备
- 折叠角度10~100度，偏差仅4度，重复性高
- 适合大规模空投监测，可覆盖超10公里区域
从空中机器人（如无人机）投放的传感器网络为大范围环境监测提供了低成本方案。然而，现有方法常依赖主动执行器进行空中形态或轨迹控制，增加了功耗和系统成本。本文提出一种被动式弹性折叠铰链机制，使传感器在释放后从扁平堆叠状态自动展开为三维结构。铰链通过层压商用板材与刚性印刷电路板（PCBs）并经单次烘箱加热编程折叠角度，实现无需专用设备的可扩展生产。我们的几何模型建立了层压结构、铰链力学与折叠角度之间的关系，提供可预测的设计方法。实验室测试验证了折叠角度在10至100度之间，标准偏差为4度，具有高度可重复性。野外试验进一步证明了在投放过程中数据采集与LoRa传输的可靠性，结合水平风模型（HWM）的轨迹模拟显示其具备超过10公里的大范围传感潜力。
原文摘要 · Abstract (English)
Air-dispersed sensor networks deployed from aerial robotic systems (e.g., UAVs) provide a low-cost approach to wide-area environmental monitoring. However, existing methods often rely on active actuators for mid-air shape or trajectory control, increasing both power consumption and system cost. Here, we introduce a passive elastic-folding hinge mechanism that transforms sensors from a flat, stackable form into a three-dimensional structure upon release. Hinges are fabricated by laminating commercial sheet materials with rigid printed circuit boards (PCBs) and programming fold angles through a single oven-heating step, enabling scalable production without specialized equipment. Our geometric model links laminate geometry, hinge mechanics, and resulting fold angle, providing a predictive design methodology for target configurations. Laboratory tests confirmed fold angles between 10 degrees and 100 degrees, with a standard deviation of 4 degrees and high repeatability. Field trials further demonstrated reliable data collection and LoRa transmission during dispersion, while the Horizontal Wind Model (HWM)-based trajectory simulations indicated strong potential for wide-area sensing exceeding 10 km.
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