“…The geometry of the spherical pipe is simply determined by the structure vector H = [L, r, Rα , θ 0 ] T , where L, r, Rα and θ 0 represents the axial length, the circumferential radius at the end, the meridional radius, and the initial winding angle, respectively. The single-layer cord/rubber lamina can be regarded as orthotropic material [15]. The equivalent elastic constants of the lamina can be obtained with the following equations [16]…”