a Theoretical model of a limb contains parallelogram linkage. The linkage is in series between two revolute joints. b Conventional mechanical design of the limb. Revolute joints and the parallelogram linkage are achieved by four spherical joints with extra constraint links. The axes of the revolute joints and the axes of the joints in parallelogram linkage are coplanar. c Origami design of the limb. Due to the limitations of the SCM process, bias exists between the revolute joint axis and the parallelogram linkage. d Trajectories of the “ZJU''. The size of the desired trajectory is 1700 μm × 500 μm. The trajectory executed followed the conventional model is different from the origami model. In the XY plane, there is an anticlockwise rotation of ~ 4.3 [deg] with respect to the origami model. In the XZ plane, the trajectory of the convention model is ~ 33 μm lower than the origami model. Source data of (d) are provided as a Source Data file.
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