As interest in origami-inspired mechanisms continues to grow, there is an increasing need to better understand the fundamental types of motion possible in origami models and how to effectively actuate them. This paper addresses this need with an in-depth study of action origami models and their motion. Approximately 140 action origami models were folded and analyzed. Groupings of action origami models are proposed based on observed fundamental motions from this study. Eleven different motions are outlined and defined with the associated actuation forces that drive them. Considerations for effective placement of actuation forces and back-drivability of each defined motion are included in the discussion.

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