Design and Actuation of Shape-Changing Mechanical Devices

变形机械装置的设计与驱动

• 批准号: RGPIN-2016-06392
• 负责人: Birglen, Lionel
• 金额: $ 2.11万
• 依托单位: École Polytechnique de Montréal
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=683049
• 关键词: Design; Actuation; Shape; Changing; Mechanical

The design of mechanisms is often a neglected aspect of modern mechatronics which typically prefers to rely on complex control strategies and sophisticated sensors and actuators. However, over the past decades, mechatronic systems have been proposed by researchers, including the applicant, taking advantage of self-adaptive mechanisms. These mechanisms are characterized by the property of having a large part-if not all-of their control tasks delegated to the mechanical layout of the system rather than to an electronic board. Self-adaptive linkages can be considered a subspecies of shape-changing mechanisms where the cause for the shape adaptation is external to the device. Self-adaptive or even shape-changing mechanisms have only recently been considered in robotics since the still most common trend has been to expect that the growing power of computational devices would allow to easily control all systems with great efficiency despite their inherent complexity. However, this prediction has only been partially fulfilled as the increase of the computation capabilities of modern digital systems has not always been able to overcome all these drawbacks. The research initiative proposed here stems from from the applicant's earlier works and proposes to extend recent discoveries to new applications along four research thrusts focusing on aerospace and biomedical. The introduction of self-adaptive shape-changing linkages in the mechatronic systems of these two industries will significantly reduce their costs by decreasing the number of required actuators and sensors as well as their control burden. Challenging and exciting issues will be addressed in this research program and the impact on the associated research field is expected to be significant. The development of advanced mechatronic systems will hopefully attract the attention of the international research community and the industry in Canada. Indeed, this proposal has potential applications in areas where Canadian companies are at the forefront of the technology.*****

机制的设计通常是现代机电一体化的一个被忽视的方面，通常倾向于依靠复杂的控制策略以及复杂的传感器和执行器。但是，在过去的几十年中，包括申请人在内的研究人员提出了机电系统系统，利用了自适应机制。这些机制的特征在于具有大部分的特性 - 如果不是全部控制任务委派给了系统的机械布局而不是电子板。自适应链接可以被视为变形机制的亚种，在该机制中，形状适应的原因在设备的外部。自适应甚至改变形状的机制直到最近才在机器人技术中考虑，因为仍然最常见的趋势是期望计算设备的增长能力使尽管它们具有固有的复杂性，但仍可以轻松地以极大的效率控制所有系统。但是，由于现代数字系统的计算功能的增加并不总是能够克服所有这些缺点，因此该预测仅得到部分实现。这里提出的研究计划源于申请人的早期作品，并提议将最新发现扩展到沿着四个研究推力，重点是航空航天和生物医学。在这两个行业的机电系统系统中引入自适应改变形状的联系将通过减少所需的执行器和传感器的数量及其控制负担，从而大大降低其成本。该研究计划将解决具有挑战性和令人兴奋的问题，并预计对相关研究领域的影响将很大。高级机电系统的发展有望吸引国际研究界和加拿大行业的关注。确实，该提案在加拿大公司处于该技术最前沿的领域中有潜在的应用。*****