Towards Free-Form Kinetic Structures

Kinetic Reciprocal System (KRS) are a new kinetic system based on the principle of reciprocity [1] with internal pin-slot constraints. A morphogenetic procedure that can handle a set of many rigid bodies interconnected reciprocally with multiple pin-slot constraint was developed for the generation of pin-slot paths starting from the local displacements of element [2] [3].
In the design of kinetic structures, in particular when complex three dimensional and non regular configurations are involved, the functionality is frequently related to a global displacement capability of the assembly rather than the local displacements of elements. In the present paper the morphogenesis of KRS was included into a larger optimization procedure in order to translate overall design requirements into local displacements of elements. This method can be described now as a generalized procedure for the generation of free-form kinetic structures.