Discretely Deformable Surface Based on Mechanical Interpolation: Application to the Design of a Dynamically Reconfigurable Theater Stage

Abstract

This paper presents the development of an active discretely deformable surface that makes use of mechanical interpolation in order to limit the number of required actuators. First, a planar interpolation mechanism is proposed and optimized in order to minimize the interpolation errors. Then a four-DOF spatial interpolation mechanism with the actuators in the corners is designed based on the planar mechanism. The kinematics of this mechanism are also derived. Finally, a prototype—built in order to illustrate the concept—is presented. The prototype consists of a small-scale dynamically reconfigurable stage for puppet theater performance, referred to as a Castelet. The prototype was used for the creation of two shows that clearly demonstrate the potential of the Castelet in theater performance as well as in other applications.