可实现滚动运动模式的大转角并联/柔性机构设计理论

Currently, the common disadvantages existing in both parallel mechanisms and compliant mechanisms include a limited rotational range, a comparatively low transmission efficiency etc. Inspired by the rolling motions in nature, and based on the classical Theorem of Centroids and Axodes, this project aims at exploring the design theory of a family of large range-of-rotation parallel and/or compliant mechanisms which can realize one and more specified rolling motion patterns. The proposed methods can be the beneficial supplement to the existing creative design methodology of mechanisms. For this purpose, screw theory and quaternion will be applied as the fundamental mathematical tool, in terms of the principle of equivalence in kinematics, the characteristic analysis and type synthesis of both high-pair and low-pair, rigid and compliant rolling-motion mechanisms can be implemented within the unified theoretical framework by means of establishing the effective mapping among the mechanical, physical and geometrical models. Based on the proposed design theory and method, creative design of the mechanisms orienting at such applications as biomedical engineering, bionics engineering and tracking & pointing etc. will be performed. The developed prototypes will be tested and evaluated by experiments. Through the aforementioned studies, a new way of obtaining the original innovation for the mechanisms is expected to be explored by means of the combination of traditional concepts and modern mechanisms, as well as the fusion of different disciplines among mechanisms, bionic robotics, precision engineering and biomedical engineering etc.. The achievements from this project will pose a positive significance in enriching the current design theory of modern mechanisms, as well as guiding the creative design of parallel and/or compliant mechanisms and their engineering applications.

当前，并联机构和柔性机构中普遍存在着转动范围受限、传动效率不高等缺点。受自然界滚动运动之启发，依托经典的瞬心线及瞬轴面定理，研究一类可实现滚动运动模式的大转角并联/柔性机构及其设计理论，作为对现有机构设计方法的有益补充。为此将旋量理论、四元数等作为基本数学工具，基于运动学等效原理，通过建立机械、物理、几何三种模型之间的有效映射，将高/低副机构、刚/柔性滚动机构的特性分析与构型综合问题有机地统一在同一理论框架下。在构建理论体系的基础上，深入开展面向医学工程、仿生、跟踪指向等应用背景的机构创新设计及应用示范研究。通过本项目研究，探索出一条通过传统概念与现代设计理论有机结合，机构学、仿生机器人、精密工程、生物医学等不同学科交叉融合，实现机构原始创新的新路。. 项目研究成果对丰富和完善现代机构学理论，指导并联/柔性机构的创新设计及工程应用具有积极意义。

当前，并联机构和柔性机构中普遍存在着转动范围受限、传动效率不高等缺点。受自然界滚动运动的启发，依托经典的瞬心线及瞬轴面定理，研究一类可以实现滚动运动模式的大转角并联/柔性机构及其设计理论，作为对现有机构设计方法的有益补充。为此将旋量理论、四元数等作为基本数学工具，基于运动学等效原理，通过建立机械、物理和几何三种模型之间的有效映射。将高/低副机构、刚/柔性滚动机构的特性分析与构型综合问题有机地统一在同一理论框架下。在构建理论体系的基础上，深入开展面向医学工程、仿生、跟踪指向等应用背景的机构创新设计及应用示范研究。为此，通过重点研究两转和两转一移并联刚/柔性机构，总结了此类机构的几何特征。基于图谱法，提出了相应的滚动机构的综合方法和设计方法，并对其滚动运动特征进行了全面揭示。最后，通过一种以快速反射镜为应用背景的指向机构的研发和性能测试，验证了理论成果。. 项目研究成果对丰富和完善现代机构学理论，指导并联/柔性机构的创新设计及工程应用具有积极意义。