TrussFormer：大型动态结构的3D打印

我们提出了TrussFormer，一个集成的端到端系统，允许用户3D打印大型动态结构，即涉及运动并处理动态力的结构。TrussFormer基于TrussFab构建，继承了其使用3D打印连接器和PET瓶创建静态大型桁架结构的能力。TrussFormer通过将线性执行器嵌入结构中来为这些结构添加运动：可以是手动嵌入，也可以使用称为资产的可重用组件包裹后嵌入，或者通过演示预期运动来实现。TrussFormer验证 resulting structure is mechanically sound and can withstand the dynamic forces from motion. To fabricate the design, TrussFormer generates the underlying hinge system printable on standard desktop 3D printers. We demonstrate TrussFormer with several example objects, including a 6-legged walking robot and a 4m tall animatronics dinosaur with 5 degrees of freedom.