混联空间操控机构的多模式可重构构型综合与优选方法研究

Driven by the significant demand for space control mechanism in the development of national space field, the multi-mode reconfigurable topology synthesis and optimization of hybrid space control mechanism are investigated in this project. Based on the finite screw theory, the simplest mathematical expression of continuous motion corresponding to the motion mode of control operations, such as capture, race, screw and insertion, is established. According to the synthesis and intersection operation rules of the finite screw theory, the simplest analytical representation of the topology model made up of the continuous motion of hybrid mechanism is constructed. The multi-mode reconfiguration principle of hybrid mechanism and the motion allocation principle of the series/parallel parts are analyzed, and an algebraic operation based multi-mode reconfiguration design method of hybrid mechanism is proposed, with the help of which, the hybrid space control mechanisms with independent intellectual property rights are synthesized. On the basis of the topological model, the performance modeling method of hybrid mechanism is studied. The integrated modeling and analysis issues towards topology and performance models are solved, and a topology optimization method of hybrid mechanism is proposed. The prototype of the selected mechanism is developed and its performance experiment is carried out according to the control operations, which highly verify the validity of the theory and method proposed in this project. The above research work is of great significance to promote the basic theoretical research, accelerate the independent innovation and engineering application of space control mechanism, and promote the implementation of “Made in China 2025”.

本项目面向国家航天领域发展对空间操控机构的重大需求，研究混联空间操控机构的多模式可重构构型综合与优选方法。以有限旋量为数学工具，建立抓捕、消旋、旋拧与插拔等操控任务对应运动模式连续运动的最简数学表达，基于有限旋量合成与求交集运算，构建混联机构连续运动拓扑模型的最简解析表征；探索混联机构多模式可重构机理，归纳混联机构运动模式中串/并联部分的分配原则，提出基于代数运算的混联机构多模式可重构构型综合理论，综合具有自主知识产权的混联空间操控机构；研究基于拓扑模型的混联机构性能建模方法，解决拓扑与性能模型的一体建模与分析问题，提出混联机构构型优选方法；建立优选机构原型样机，基于操控任务开展性能实验，验证本项目所提出理论与方法的有效性。上述研究工作对促进机构学基础理论研究，加快以混联机构为主体的空间操控机构的自主创新和工程应用，推动实施《中国制造2025》具有重要意义。

本项目密切结合国家航天领域发展对空间操控机构的重大需求，系统研究了混联空间操控机构的多模式可重构构型综合与优选方法，内容涉及多模式混联空间操控机构的构型综合、拓扑与性能的一体化分析与优选、原型样机开发等。本项目主要创新性研究成果如下：.基于有限瞬时旋量理论（FIS理论），分析了实现抓捕、消旋、旋拧与插拔操控任务所需的自由度数目与类型，建立了操控任务对应运动模式连续运动的最简数学表达；以串/并联机构的最简解析表征为基础，通过有限旋量运算法则，构建了混联机构连续运动拓扑模型的最简解析表征；基于等效变换推导了具有相同初始运动的支链表达，计入转换关节的有限旋量表示，获得了附加关节和公共关节两种方式实现的转换矩阵，揭示了混联机构多模式可重构机理，归纳了串/并联模式的分配原则，生成了全部可用支链，确定了构型装配条件，提出了一种基于FIS理论的通用多模式可重构机构的构型综合方法，获得了具有自主知识产权的混联空间操控机构；利用有限旋量和瞬时旋量的微分映射关系，将拓扑参数传递到性能模型中，建立了拓扑与性能的一体化模型，获得了广义雅可比矩阵，开展了奇异性分析，以奇异点个数为指标实施了构型优选，提出了一种针对多模式机构的构型优选方法；结合空间操控任务，获得了平动、转动与模式转换中实现预定轨迹的驱动关节角度与角速度，利用边界搜索法得到了线性和姿态工作空间，验证了综合所得机构实现空间操控任务的有效性；针对优选构型开展了性能均衡最优优化设计、尺度与时间分配的一体化优化设计，获得了满足上述优化设计的参数最优解；搭建了机构原型样机，结合性能实验，验证了本项目所提出理论与方法的有效性。本项目丰富了机构学基础理论研究，为开发我国新型混联空间操控机构奠定了基础。.在项目执行期内，项目组在国内外期刊及国际会议上发表学术论文11篇，SCI/EI收录10篇；申请国家发明专利5项，授权实用新型专利3项；培养硕士研究生7人，2人已毕业。