1. Kinematic and mechanical advantage trade-off study.
Kinematic and mechanical advantage trade-off study. As initial offset angle (θs) of the folding unit increased, bidirectional folding became more symmetric. When normalized distance between the assembly linkage layer and the folding linkage layer () increased, the corresponding minimum mechanical advantage increased.
Zhi Ern Teoh et al. Sci. Robotics 2018;3:eaat5276
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