AF:Medium:Collaborative:RUI:Structure in Motion:Algorithms for Kinematic Design

AF：中：协作：RUI：运动结构：运动设计算法

• 批准号: 1703765
• 负责人: Ileana Streinu
• 金额: $ 91.72万
• 依托单位: Smith College
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-06-01 至 2023-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1703765&HistoricalAwards=false
• 关键词: AF; Medium; Collaborative; RUI; Structure

New technologies and techniques in robotics (miniature fabrication), computational biology (DNA assembly), material science (nano-technology), and even origami give rise to new questions in kinematic design ? the design of moving assemblies. This project addresses the theory and corresponding algorithms for a number of fundamental problems in kinematic design. The goal is to design the shape of a (deformable) geometric object, along with one or a family of its deformation trajectories. In robotics, for instance, one may want to build a robot arm capable of moving its end-effector from any point in a source domain to any point in a destination domain (geometric structure design), in a way that would avoid singularities and collisions (trajectory design). In manufacturing and CAD, one is interested in designing structures that can be assembled from standard smaller parts; for example, a polyhedral surface might be assembled from rigid triangular pieces whose sides are joined together. Another example is folding a 3D origami shape from a creased piece of (flat) paper: both the 3D shape and the folding trajectories have to be designed in advance. The results are anticipated to have an impact on several scientific fields where geometric modeling and geometric simulations are being used, including mechanics, robotics, computational biology and materials science (nano-technology). The project will engage a diverse population of students, at all levels (post-doc, graduate and undergraduate). The PIs will develop new educational materials related to emerging multidisciplinary connections.New kinematic design principles rely on the mutual dependence of mobility and structure. Recent results of the PIs on robot-arm singularities and precise positional workspace determination provide insights and techniques for an integrated approach, which coordinates structural parameters and path-planning. For innovative patterns of metamaterials with auxetic capabilities, a rigorous geometric theory of periodic frameworks will be combined with efficient algorithms for framework generation and visualization. Advancing these methods will throw new light on conformational changes in crystals and biological self-assembly problems.

机器人学（微型制造）、计算生物学（DNA 组装）、材料科学（纳米技术）甚至折纸领域的新技术和新工艺在运动学设计中提出了新问题？移动组件的设计。 该项目解决了运动学设计中许多基本问题的理论和相应算法。目标是设计（可变形）几何对象的形状，及其一个或一组变形轨迹。例如，在机器人技术中，人们可能希望构建一个能够将其末端执行器从源域中的任何点移动到目标域中的任何点（几何结构设计）的机器人手臂，从而避免奇点和碰撞（轨迹设计）。在制造和 CAD 领域，人们对设计可以由标准较小零件组装而成的结构感兴趣；例如，多面体表面可能由边连接在一起的刚性三角形块组装而成。另一个例子是用一张有折痕的（平面）纸折叠 3D 折纸形状：3D 形状和折叠轨迹都必须提前设计。研究结果预计将对使用几何建模和几何模拟的多个科学领域产生影响，包括力学、机器人技术、计算生物学和材料科学（纳米技术）。 该项目将吸引不同层次的学生（博士后、研究生和本科生）。 PI 将开发与新兴多学科联系相关的新教育材料。新的运动学设计原则依赖于移动性和结构的相互依赖。 PI 在机器人手臂奇点和精确位置工作空间确定方面的最新结果为协调结构参数和路径规划的集成方法提供了见解和技术。对于具有拉胀能力的超材料的创新模式，周期性框架的严格几何理论将与框架生成和可视化的有效算法相结合。推进这些方法将为晶体构象变化和生物自组装问题提供新的线索。

项目成果

Auxetics Abounding

丰富的拉胀

• DOI: 10.1109/remar.2018.8449905
• 发表时间: 2018-08
• 期刊: 2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR
• 作者: Borcea, Ciprian S.;Streinu, Ileana
• 通讯作者: Streinu, Ileana

Auxetic Regions in Large Deformations of Periodic Frameworks

周期框架大变形中的拉胀区域

• DOI: 10.1007/978-3-030-16423-2_18
• 发表时间: 2018-05-27
• 期刊: Interdisciplinary Applications of Kinematics
• 作者: Ciprian S. Borcea;I. Streinu
• 通讯作者: I. Streinu

Periodic tilings and auxetic deployments

定期瓷砖和拉胀部署

• DOI: 10.1177/1081286520948116
• 发表时间: 2021-02
• 期刊: Mathematics and Mechanics of Solids
• 影响因子: 2.6
• 作者: Borcea, Ciprian S;Streinu, Ileana
• 通讯作者: Streinu, Ileana

Saturation and periodic self-stress in geometric auxetics

几何拉胀中的饱和度和周期性自应力

• DOI: 10.1098/rsos.220765
• 发表时间: 2022-08
• 期刊: Royal Society Open Science
• 影响因子: 3.5
• 作者: Borcea, Ciprian S.;Streinu, Ileana
• 通讯作者: Streinu, Ileana

Infinitesimal Periodic Deformations and Quadrics

无穷小周期性变形和二次曲面

• DOI: 10.3390/sym13091719
• 发表时间: 2021-09
• 期刊: Symmetry
• 作者: Borcea, Ciprian S.;Streinu, Ileana
• 通讯作者: Streinu, Ileana