PneuMesh: Pneumatic-driven Truss-based Shape Changing System
PneuMesh: Pneumatic-driven Truss-based Shape Changing System
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DOI：
10.1145/3491102.3502099
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发表时间：
2022-04
期刊：
影响因子：
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通讯作者：
Jianzhe Gu;Yuyu Lin;Qiang Cui;Xiaoqian Li;Jiaji Li;Lingyun Sun;Cheng Yao;Fangtian Ying;Guanyun Wang;L. Yao
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文献类型：
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作者：
Jianzhe Gu;Yuyu Lin;Qiang Cui;Xiaoqian Li;Jiaji Li;Lingyun Sun;Cheng Yao;Fangtian Ying;Guanyun Wang;L. Yao
从跨洋桥梁到大型设施，桁架结构以其结构稳定性和形状复杂性而闻名。除了静态桁架的优点外，当配备可旋转接头和可伸缩梁时，桁架结构具有很大的自由度来改变形状。然而，要设计一个复杂的运动和建立一个控制系统的大量桁架是困难的。在本文中，我们介绍了Pneumesh，一种新颖的基于桁架的形状改变系统，易于设计和构建，但仍然能够实现一系列任务。Pneumesh通过引入空气通道连接策略和可重构约束设计来实现这一目标，该设计大大减少了控制单元的数量，而不会失去形状变化的复杂性。我们开发了一个具有实时仿真的设计工具，以帮助用户设计基于桁架的变形机器人和设备的形状和运动。有七位参与者参加的设计会议表明，Pneumesh使用户能够设计和建造具有各种形状和各种功能运动的桁架结构。
From transoceanic bridges to large-scale installations, truss structures have been known for their structural stability and shape complexity. In addition to the advantages of static trusses, truss structures have a large degree of freedom to change shape when equipped with rotatable joints and retractable beams. However, it is difficult to design a complex motion and build a control system for large numbers of trusses. In this paper, we present PneuMesh, a novel truss-based shape-changing system that is easy to design and build but still able to achieve a range of tasks. PneuMesh accomplishes this by introducing an air channel connection strategy and reconfigurable constraint design that drastically decreases the number of control units without losing the complexity of shape-changing. We develop a design tool with real-time simulation to assist users in designing the shape and motion of truss-based shape-changing robots and devices. A design session with seven participants demonstrates that PneuMesh empowers users to design and build truss structures with a wide range of shapes and various functional motions.