Crease Design Based on Rigid Layout

Folding is one of the hotspots in the research of flexible robots in recent years,crease design based on rigid layout is proposed to solve the problems such as large error of plane layout,uneven distribution,and complex crease,and realizes vertex crease and edge crease design of 3D triangular mesh without cutting,stretching and pasting.Firstly,we disassemble the triangular mesh surface based on ARAP rigid local parameterization,and propose a rigid layout by optimizing the transformation of rotation and translation,to layout the triangular face of the mesh model into uniformly distribution without connection in the parametric plane space.Then,we construct the edge crease,and construct the selection of good sites using the incremental Voronoi method and the sites constraint,then construct the vertex creases using the good sites.Finally,we locate the local creases into the layout to complete the crease design of triangular mesh model.The layout error values of LSCM,the mean parametric method and proposed method are compared and analyzed;the energy value and the effective value in layout are analyzed in the same experimental environment.The results show that proposed method has the advantages of low error,high stability and uniform distribution,and is suitable for larger-scale triangular mesh.