a Image of the Micro-X4. The origins of the fixed platform and the moving platform are set as G and P, respectively. b Demonstrations of the four DoFs. c Image of origami parallel mechanism and the exploded illustration of the Computer-Aided Design (CAD) model. A coin is included for scale. d Perspective CAD model and the transmission linkage. The link of the origami parallel mechanism, the transmission linkage, and the arm of the motor together form a parallelogram. The input angle of the origami parallel mechanism is equal to the angle of the motor. e Pattern cutting with a knife end-effector. Step 1: cut the bottom line. Step 2: cut the top line. Step 3: rotate the orientation of the blade. Step 4: cut the right line. Step 5: cut the left line to close the pattern. f Cell surgery with two end-effectors: a knife and a needle. Step 1-2: cut an opening with the knife. Step 3: rotate to switch to the needle. Step 4-5: insert the needle through the opening. g Utilizing the rotational DoF to insert the cube into eight-pointed star holes with different orientations.
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