Kangaroo can be useful for creating the conical/circular meshes to use for these type of structures, but once you have that, the actual motion of the structure is better constructed purely geometrically.
Here’s an old animation showing this from when I first found this linkage type. There is a point within each quad about which the panel can rotate and scale so that it stays touching the quad boundary. You can then invert this scaling so the panels keep their size and the structure as a whole expands.
