Proposal of Robot Assemblies Constructing Curved Surfaces Based on Computer Graphics

Abstract

We propose a mesh robot based on Computer Graphics. This robot aims to hold and deform three-dimensional curved surface. Furthermore, it deforms the curved surface even by external force, and changes the ease of deformation for each part. Since Circle Packing is used for coordinate transformation from a plane to a curved surface, the module shape is assumed to be a circle. Based on the method proposed in the field of mathematics, simulation of Circle Packing Mesh's initial preparation was carried out. We established the equation of motion of the mesh robot as a set of rigid disks. We solved the equation using BiCGSTAB method.