We present a pneumatic origami joint, which consists of 89 degrees plate angles of Four-vertex origami mechanism activated by pouch motors. The proposed prototype consists of four high-density polyethylene plates connected by flexible adhesive polyethylene tapes. A cutting-binding technique was used for the fabrication of the origami. This technique is inexpensive and easy to replicate. We modeled the kinematics of the origami as a spherical mechanism, and compared with experimental result, against several origami mechanisms with different angles of origami’s plates. We found that an origami mechanism with a plate angle of 89^∘ shows around 8.4 times higher rotational movement for a given angular displacement of the input link compared to a mechanism with a plate angle close to 0^∘ or a simple fold which is equivalent to a revolute joint. The proposed design is flat-foldable (the sum of odd or even angles around the central vertex equals to 180^∘). The pneumatic origami joint can fold and adapt its shape to the environment.

我们提出了一种气动折纸接头，它由由袋电机激活的四顶点折纸机构的 89 度板角组成。拟议的原型由四个高密度聚乙烯板组成，由柔性聚乙烯胶带连接。切割绑定技术用于制作折纸。这种技术成本低廉且易于复制。我们将折纸的运动学建模为球形机构，并与实验结果进行了比较，并与具有不同折纸板角度的几种折纸机构进行了比较。我们发现，与板角接近 0 ^∘的折纸机构相比，对于输入连杆的给定角位移，板角为 89 ^∘的折纸机构显示出大约 8.4 倍的旋转运动或相当于旋转关节的简单折叠。所提议的设计是可平折叠的（围绕中心顶点的奇数或偶数角度之和等于 180 ^∘）。气动折纸接头可以折叠并使其形状适应环境。