Design and kinematic analysis of a rigid-origami-based underwater sampler with deploying-encircling motion

•A novel underwater sampler with 1-DOFdeploying-encircling motion is proposedbased on non-Euclidean rigid origami.•The kinematics of two types of non-Euclidean rigidori gamiunits is carried out.•The rigid foldability of the encircling surfacepattern is investigated.•The bifurcated paths are introduced into the motion transmission path analysis.