摘要
折叠是近年来柔性机器人领域的研究热点之一.在折痕设计方法中,针对平面布局误差大、分布不均和折痕复杂等问题,提出基于刚性平面布局的折痕设计方法,可在无剪切、拉伸和粘贴的约束下,实现三角网格模型的顶点折痕和边折痕设计.首先,基于ARAP刚性局部参数化拆解三角网格模型,并以最优旋转和平移变换实现刚性平面布局,将三角网格模型拆分为参数平面空间内均匀分布、互不相连的三角面片;然后,构造边折痕,并基于增量法Voronoi和站点约束筛选有效站点,并以其构造顶点折痕;最后,将局部折痕嵌入平面布局,实现三角网格模型完整的折痕设计.在相同环境下对LSCM、均值参数化方法以及文中方法的平面布局误差值进行比对分析,同时对平面布局过程中的能量值,以及平面布局结果的有效值进行分析.结果表明,文中方法平面布局误差较低,稳定性较高,三角面片空间分布较为均匀,适用于较大规模的三角网格模型.
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.
作者
孙晓鹏
金美辰
李姣姣
王振燕
Sun Xiaopeng;Jin Meichen;Li Jiaojiao;Wang Zhenyan(Computer Systems Research Institute,Department of Computer and Information Technology,Liaoning Normal University,Dalian 116029;Department of Management,Dalian University of Finance and Economics,Dalian 116622;Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia,Beijing University of Posts and Telecommunications,Beijing 100876)
出处
《计算机辅助设计与图形学学报》
EI
CSCD
北大核心
2021年第1期39-48,共10页
Journal of Computer-Aided Design & Computer Graphics
基金
国家自然科学基金(61472170)。