用剪刀机构实现可编程的形状变形与书写。
Morphing of and writing with a scissor linkage mechanism
- 基于剪刀单元构建单自由度可重构机构。
- 通过优化求解实现形状变换与轨迹书写。
- 适合机器人路径规划与微型设备控制场景。
连杆机构的运动学特性与其几何结构紧密相关，其应用价值常源于以较少驱动自由度实现可重复运动。本文研究由两个刚性直线构件通过铰链连接而成的剪刀单元的组装系统。该系统仅具有一个自由度，任意激活一个单元即可引发整个结构的形变。我们推导了单元有效曲率及机构末端轨迹的表达式，依赖几何参数建立模型，并以此为基础将形状变形与书写任务表述为优化问题。借助可微分仿真框架求解，再在桌面实验中验证。结果表明，剪刀结构的几何特性可用于复杂环境中自动化导航与检测；但缺乏反馈时，快速编程与无误实现仍具挑战。
原文摘要 · Abstract (English)
Kinematics of mechanisms is intricately coupled to their geometry and their utility often arises out of the ability to perform reproducible motion with fewer actuating degrees of freedom. In this article, we explore the assembly of scissor-units, each made of two rigid linear members connected by a pin joint. The assembly has a single degree of freedom, where actuating any single unit results in a shape change of the entire assembly. We derive expressions for the effective curvature of the unit and the trajectory of the mechanism's tip as a function of the geometric variables which we then use as the basis to program two tasks in the mechanism: shape morphing and writing. By phrasing these tasks as optimization problems and utilizing the differentiable simulation framework, we arrive at solutions that are then tested in table-top experiments. Our results show that the geometry of scissor assemblies can be leveraged for automated navigation and inspection in complex domains, in light of the optimization framework. However, we highlight that the challenges associated with rapid programming and error-free implementation in experiments without feedback still remain.
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