reciprocal frame on irregular surface

Hello. I have an urgent questions in using grasshopper and rhino.

  I'm curently engaging in a project deals with reciprocal frame on irregular surface

 for digital fabrication. So far, I have tried on my own using Jacek Jaskólski 's cool

definition in the page below for practice. (reciprocal.gh)

http://www.grasshopper3d.com/forum/topics/reciprocal-systems

  For me, I just tried to project curves on the surface, but the problem was that sticks are

changed in their length. What I want to achieve is like the clip below. (made also by Jacek Jaskólski) 

https://www.youtube.com/watch?v=HTyMHVKJKRY&feature=player_embe...

  The important thing is that the sticks shouldn't change their lenghts , but the connections permit rotating movement to some extent...since it has to be constructed in physical model. As he mentioned in the page, the clip is achieved by using kangaroo manipulation, but I was failed to follow it. Is there anyone who knows definition to achieve this kind of thing?

I attached the base file made by Jacek Jaskólski for convenience.