用于移动机器人系统的柔性功能模块的设计与分析研究

With the development of robotic technology, the application of the flexural components (compliant mechanism) in the robotic system is increasingly extensive. During the previous study on the adaptive mechanisms, the applicant tried to use compliant mechanisms to improve the performance and reduce the structural complexity of the robot structure. But the simple movement (such as rotation or translation) of the present compliant mechanism is not satisfied. The present studies on the compliant mechanism usually laid stress on the precision engineering. Only a few researchers focused on the motion function of them.. In this requisition, we will modularize the flexible components. A flexural function module can implement specific motion output, and satisfied the requirement of stiffness, stroke, shape, and so on. This could expand the application of the compliant mechanisms in the field of mobile robot and eventually improve the performance of the whole system. . Therefore, with the background of the applications in the specific robotic systems (such as passive adaptive robots or bionic robot), we will research on the design and analysis method of the flexural function modules to implement the required complex motion, and simultaneously satisfy the requirement of corresponding stiffness, stoke, shape and other conditions. It involves new problems, such as performance changes by using new material and integration technology of new drive method.. The research results of this project will enrich and improve the compliant mechanism and robotic mechanism theories. The study can also help to guide the creative design and application of compliant mechanisms in the robotic system

柔性部件在移动机器人中的应用越来越广泛。申请人在对自适应机构的研究过程中发现，引入的柔性构件，如果仅仅满足简单的运动关系（如简单的转动或移动），则难以全面提升机构的整体性能。目前柔性机构的研究多在精微机械方面，而对于其运动功能的研究较少，研究输出运动对构型设计的研究就更少了。如果将柔性部件模块化，实现较为复杂的运动方式，同时满足刚度、行程以及外形等要求，则可拓展柔性机构在移动机器人领域的应用并提升机器人的性能。因此，本课题拟以移动机器人应用（如被动自适应机器人或仿生机器人）为背景，研究满足所需复杂运动功能并满足相应刚度、行程、外形等特性条件的柔性功能模块的设计方法及分析方法。同时也涉及到新材料、新驱动方式的集成技术、性能改变等新问题。. 本项目研究成果对丰富和完善柔性机构学理论，指导柔性机构的创新设计及其在移动机器人中的应用具有重要的意义。

柔性机构的用途日益广泛，不仅在精微定位、操作等领域广泛应用，也在机器人领域有了新的应用空间。本项目探索了柔性机构在多种机器人结构中的创新应用，以行星探测车的越障机构，欠驱动抓持手、柔性机械臂、2自由度转动平台、柔性腰等为应用对象，采用柔性机构得到新构型，简化结构，提高性能。分别加工试制了样机，并进行了实验。通过VCM柔性模块组合方法，以及基于旋量理论和约束理论的图谱化方法得到了多种新型的柔性铰链和直线导向柔性机构，并找到了提高柔性机构动态性能的一种方法。.本项目的开展，为柔性机构在机器人结构中的深入应用打下基础，也符合未来机器人共融性发展的需要。