Wente輪環面を用いた曲面形状ロボットの幾何学的モデリング

抄録

Robotic surfaces composed of soft materials significantly differ in their actuation elements and structures, making the development of universally applicable theories for robotic surfaces challenging. To consider common elements independent of the specific actuation elements or structures of these robots, a geometric surface model is necessary. The authors have previously proposed the use of surfaces of constant mean curvature, specifically revolution surfaces, in the kinematics of robotic surfaces. This paper proposes modeling using a part of the Wente torus. By varying a region on the Wente torus and its scale, we demonstrate the capability to represent a diverse array of shapes without a rotation axis, unlike traditional models.