Fig. 1 The crease patterns of two typical symmetrical origami WB bases: ( a ) WB-6R and ( b ) WB-8R. Dashed lines represent valley creases (V-creases) and dotted lines represent mountain creases (M-creases). More

Fig. 2 The kinematic model of the WB-6R base: ( a ) bifurcated motion-I and ( b ) bifurcated motion-II More

Fig. 3 Kinematic relationship of the origami WB-6R base More

Fig. 4 The kinematic model of the WB-8R base: ( a ) bifurcated motion-I and ( b ) bifurcated motion-II More

Fig. 5 Kinematic relationship of the origami WB-8R base More

Fig. 6 The stability phase diagram of WB-6R base. A P 1 and A P 2 ( B P 1 and B P 2 ) are points of two bifurcated motion curves, which map to the two stable states of configuration A (configuration B ). (Color version online.) More

Fig. 7 The stability phase diagram of the WB-8R base. C P 1 and C P 2 ( D P 1 and D P 2 ) are points of two bifurcated motion curves, which map to the two stable states of configuration C (configuration D ). (Color version online.) More

Fig. 8 The FEA model and constraints of the WB base More

Fig. 9 The constraints, loads, and reset links of the prestrain More

Fig. 10 The motion and the potential energy of the WB-8R base during the prestrain process More

Fig. 11 The analytical and FEA results of the potential energy of the WB base for design points A , B , C , and D More

Fig. 12 The stable states of the WB-6R base (the legend represents the displacement about the Z -direction). A p 1 and A p 2 are the stable states of case A; B p 1 and B p 2 are the stable states of case B. More

Fig. 13 The stable states of the WB-8R base (the legend represents the displacement about the Z -direction). C p 1 and C p 2 are the stable states of case C; D p 1 and D p 2 are the stable states of case D. More

Fig. 14 Processed prototypes More

Fig. 15 The experimental setup for stable state measurement More

Fig. 16 Experimental results of the prototype of WB-6R based: ( a ) and ( d ) photographs of the industrial camera, ( b ) and ( e ) depth maps of the depth-sensing camera, and ( c ) and ( f ) reconstructed images by 3D-point cloud More

Fig. 17 Experimental results of the prototype of WB-8R based: ( a ) and ( d ) photographs of the industrial camera, ( b ) and ( e ) the depth maps of the depth-sensing camera, and ( c ) and ( f ) reconstructed images by 3D-point cloud More

Fig. 1 Calculation procedure of small failure probability estimation based on the proposed methodology More