On solving the kinematics and controlling of origami box-shaped robot

<span lang="EN-US">Nowadays, there are various research on transformable robot. The use of origami pattern for robot can be found in many research. disadvantages traditional model the suitable material folding is zero thickness, complicated patterns and overconstrained mechanism. In this paper, idea designing 1 degree-of-freedom box-shaped proposed two types design have been analyzed. first waterbomb robot, that uses pattern. second takes Sarrus linkage as main mechanism mobile both designs, only one motor required transformation making light-weight portable. This paper analyzes kinematic dynamic properties robots by using MATLAB. comparison torque forming 3D shape has done optimizing design. Finally, real optimized introduced to illustrate method. </span>