变胞机构的可重构特性及约束驱动的几何化位移子群理论研究

项目名称： 变胞机构的可重构特性及约束驱动的几何化位移子群理论研究

项目编号： No.51205033

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 张利萍

作者单位： 大连工业大学

项目金额： 25万元

中文摘要： 本项目提出基于位移子群的构态重构理论模型及其约束驱动的空间变胞运动链连续衍生设计方法。结合构态（含拓扑与功能）变化特性分析，定义机构的可重构特性与变拓扑单元，并基于子群元素与元素组合构建空间运动链构态特性的约束模型：构态约束特征矩阵与运动约束集，分析约束驱动生成运动链群的构型思想。通过分析子群元素组合对应的构态变化，讨论约束作用性质与子群组合规律，确定约束方程引导构态约束特征矩阵的交、并运算规则，得出子群约束模型理论，驱动变拓扑方案的设计规则与方案求解过程。深入研究构态约束矩阵对空间变胞链中的拓扑与功能（含自由度）特征的作用机制及约束（交并计算）规则、子群运动特征集的分解与组合规律，使得变胞运动链的设计转化为子群构态约束特征矩阵的分解、转换与匹配问题，由此构建几何化位移子群/子流形理论，并建立此数学模型理论向设计方案逆映射的方案求解方法，为变胞运动链群的构型方案自动生成与应用提供理论支持。

中文关键词： 几何约束；变胞机构；可重构特性；位移子群；

英文摘要： This project proposes a new geometric way to generate metamorphic configurations and investigates metamorphic principles based on geometrized displacement group. A metamorphic mechanism is regarded as a set of reconfigurable modules and each module is identified by binary composition of kinematic groups in invariant topology properties. Reconfiguration techniques are revealed as the variations of module correlated with kinematic joints, links and geometric constraints induced by mobility changement. Self-reconfiguration or combination of a module is taken as reconfiguration generator in producing metamorphosis. The study further reveals geometrized displacement group extensions and reconfiguration properties and sets up configuration-constraint-matrix in topology changement and motion variation analysis. This configuration-constraint-matrix is lent to achieve a geometric configuration modeling framework and further vehicled for reconfiguration operations. Metamorphic process is thus mapped into geometrized group kinematic extensions concept and compositions in terms of matrix operations. This constraint-based reconfiguration approach has the systematic capability of capturing the geometric nature of metamorphic kinematic chains with respect to geometric constraint category. These constraints incurred reconfigur

英文关键词： Geometric Constraint；Metamorphic Mechanism；Reconfigurable Characteristic；Displacement Group；