Check out our newest paper published in IEEE T-RO, where we provide an algorithm for automatically converting a DH specification for an arbitrary serial linkage into an origami design.
Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami. In: IEEE Transactions on Robotics, vol. 39, iss. 2, pp. 1260-1280, 2022.
Full paper at: https://doi.org/10.1109/TRO.2022.3206711