Shape Adaptive Modular Reconfigurable Systems

形状自适应模块化可重构系统

• 批准号: RGPIN-2015-06785
• 负责人: Xi, Fengfeng
• 金额: $ 2.11万
• 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: 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=683249
• 关键词: Shape; Adaptive; Modular; Reconfigurable; Systems

The objective of this research is to develop a module-based method for design, analysis and motion planning of a shape adaptive modular reconfigurable system (SAMRS) that is designed to satisfy the overall shape change of an entire system, for example, aircraft morphing wings. Our proposed SAMRS is based on the principle of variable geometry truss mechanism (VGTM) that changes the system shape and geometry by varying the lengths of structural members. In order to reduce the number of actuators yet still meeting the requirement of motion and stiffness, the idea of under-actuated parallel mechanism is applied to combine with the concept of over-constrained parallel mechanism. Each module of our SAMRS is composed of actuated members and lockable passive members, called variable lockable truss (VLT). Our VLT module is developed as a holonomic system whose motion is determinate and undergoes topological reconfiguration between isostatic and hyperstatic. As a result, for a given set of shape changes, all the truss member lengths can be pre-determined through solving the over-constrained systems corresponding to different passive members under locking. The actual shape change is realized through several steps, called actuation sequence, by switching locking/unlocking among all passive members. Based on the idea of VLT, this research program is put forward to develop a 3D SAMRS comprising three pillars. The design pillar includes three elements. The system decomposition element is to develop a method to find the number of modules, through discretization and consolidation, needed for a given set of shapes required to change. The module design element is focused on the development of 3D VLT modules with enumeration methods. The system design element is for system formation and a search method will be developed to find a SAMRS with a minimal number of actuators yet meeting system mobility and rigidity. The analysis pillar also includes three elements. The kinetostatic analysis element is to develop new methods that will be able to model the changeable constraints resulting from lockable passive members and carry out motion and static force analysis. The dynamic analysis element is to formulate module and system dynamic equations and carry out studies in respect to inertia. The vibration analysis element is to derive module and system vibration equations and address the problem of structural vibrations. The third pillar is motion planning and consists in three elements. The first element is sequence enumeration to develop a new enumeration method for the determination of all possible actuation sequences. The second element is sequence selection to develop a selection algorithm based on physical constraints to generate a set of feasible actuation sequences. The last element is sequence optimization to apply an optimization method to find an optimal solution from a set of feasible actuation sequences. **

本研究的目的是开发一种基于模块的方法，用于形状自适应模块化可重构系统（SAMRS）的设计、分析和运动规划，该系统旨在满足整个系统的整体形状变化，例如飞机变形机翼我们提出的 SAMRS 基于可变几何桁架机构（VGTM）的原理，通过改变结构构件的长度来改变系统的形状和几何形状，以减少执行器的数量，但仍满足运动和要求。我们的SAMRS的每个模块都由驱动构件和可锁定被动构件组成，称为可变可锁定桁架（VLT）。 VLT 模块被开发为一个完整系统，其运动是确定的，并在等静压和超静压之间进行拓扑重构。因此，对于给定的一组形状变化，所有桁架构件长度都可以是。通过求解锁定下不同被动构件对应的过约束系统来预先确定，基于VLT的思想，通过在所有被动构件之间切换锁定/解锁来实现实际的形状变化，称为驱动序列。 ，该研究计划旨在开发一个包含三个支柱的 3D SAMRS 设计支柱包括三个要素，即开发一种通过离散化和合并来查找给定集合所需的模块数量的方法。模块设计元素侧重于使用枚举方法开发 3D VLT 模块，系统设计元素用于系统形成，并将开发一种搜索方法来找到具有最少数量的执行器但满足系统要求的 SAMRS。分析支柱还包括三个要素：动态分析要素是开发新方法，能够对可锁定被动构件产生的可变约束进行建模，并进行运动和静态力分析。制定模块振动分析要素是推导模块和系统振动方程并解决结构振动问题。第三个支柱是运动规划，由三个要素组成。枚举，开发一种新的枚举方法，用于确定所有可能的驱动序列。第二个元素是序列选择，用于开发基于物理约束的选择算法，以生成一组可行的驱动序列。最后一个元素是序列优化，以应用优化。从中找到最优解的方法一组可行的驱动序列。