Modular reconfigurable machines: theory and application

模块化可重构机器：理论与应用

• 批准号: 217207-2008
• 负责人: Xi, Fengfeng
• 金额: $ 1.6万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=504869
• 关键词: Modular; reconfigurable; machines; theory; application

Modular Reconfigurable Machines (MRMs) represent a paradigm shift in the history of machines, because they are able to rearrange their modules and change their structures according to environment and task requirements. Although a number of MRMs have been developed around the world, they are still controlled by methods previously developed for traditional machines, but recently adapted to MRMs on a case-by-case basis. When the MRM changes its configuration, all equations, including kinematics, dynamics, kinetostatics, and calibration, must be derived all over again. Therefore, new theory must be developed in order to deal with the varying topological nature of MRMs. In this proposed research, the objective is to develop a module-based theory for effective analysis and control of MRMs. This research includes five components. The first component is module modeling in which the modules of MRMs will be classified in terms of the number and combinations of motion axes, and then a method will be developed to model the connectivity between adjacent modules. The second component is kinematic modeling in which a module-fixed coordinate frame will be used for each type of modules, and a zero-reference plane method will be used to unify the kinematic representation of all modules with respect to the global coordinate frames. The third component is system modeling in which transformation functions will be developed between adjacent modules, including pose/twist (motion), wrench (force), deformation and error, and then these transformation functions will be embedded in the module function blocks, which will be created to automatically generate the system equations for various analyses and controls of MRMs. The fourth component is configuration optimization in which both an enumeration method and Generic Algorithms (GA)-based method will be developed to search for an optimal configuration of a MRM for given task requirements. The last component is industrial applications in which two types of MRMs will be studied, one being modular reconfigurable machine tools (MRMTs) and the other being modular reconfigurable robots (MRRs), with applications to manufacturing and aerospace.

模块化可重新配置的机器（MRMS）代表了机器历史上的范式转移，因为它们能够根据环境和任务要求重新安排其模块并更改结构。尽管世界各地已经开发了许多MRM，但它们仍然受到以前针对传统机器开发的方法的控制，但最近以情况为基础适用于MRMS。当MRM更改其配置时，所有方程（包括运动学，动力学，动力学和校准）都必须再次得出。因此，必须开发新理论，以应对MRM的不同拓扑性质。在这项拟议的研究中，目的是开发基于模块的理论，以有效地分析和控制MRM。这项研究包括五个组成部分。第一个组件是模块建模，其中将根据运动轴的数量和组合对MRM的模块进行分类，然后将开发一种方法来建模相邻模块之间的连接性。第二个组件是运动学建模，其中将用于每种模块的模块固定坐标框架，并且将使用零参考平面方法来统一所有模块相对于全局坐标框架的运动学表示。第三个组件是系统建模，其中将在相邻模块之间开发转换函数，包括姿势/扭曲（运动），扳手（力），变形和误差，然后将这些转换函数嵌入模块功能块中，该功能将创建以自动为MRMS的各种分析和控制的系统方程式创建。第四个组件是配置优化，其中将开发出枚举方法和基于基于的算法（GA）的方法，以搜索MRM的最佳配置，以满足给定的任务要求。最后一个组件是工业应用，其中将研究两种类型的MRM，一种是模块化的机床（MRMT），另一个是模块化可重构机器人（MRRS），并应用于制造和航空航天。