片面のみ半径拡大可能な円錐台型アクチュエータを連結した曲面形状ロボット

抄録

Surface robots are applied to many applications due to its hyper degrees of freedom. In this paper, we will introduce an example of applying Circle Packing Mesh, which is a mesh of connected circles, to a surface robot, and we will focus on the S-Isothremic surface that can be easily embodied as a robot in the Circle Packing Mesh. S-Isothermic surfaces are useful in the theory for surface robots because the orthogonality of the local coordinate systems can be visualized. In this paper, we will show the results of developing the robots.