机构学中机构重构的理论难点与研究进展——变胞机构演变内涵、分岔机理、设计综合及其应用

Theoretical Difficulties and Research Progresses of Mechanism Reconfiguration in Mechanisms——Evolution Connotation,Furcation Principle,Design Synthesis and Application of Metamorphic Mechanisms

生产力发展与工程技术革新要求机构具备可自重组与可重构及“一机多用”的功能,以满足复杂工况需求。可重构机构具有可变活动度和可变构态,可以满足多任务、多工况与多功能的要求,然而,决定其设计方法的演变内涵与分岔机理的研究目前仍不为学者们充分了解。从变胞机构的演变与分岔机理的角度,以旋量理论、李群与李代数及微分流形为主要工具,揭示了机构演变内涵及运动与约束空间的内在关联关系;探究了机构演变中的分岔机理与可控奇异位形,回顾了变胞机构与折纸及折展机构的历史渊源,综述了变胞机构的构型设计、性能综合与新型设计理念及其创新应用。

The development of productivity and the innovation of engineering technology required mechanisms to have the multi-function of self-reorganization and reconfiguration to meet the needs of complex working conditions.Reconfigurable mechanisms had variable mobility and varying configurations to meet the requirements of multiple tasks,multiple working conditions and multiple functions.However,the research history of mechanism evolution and furcation principle,which determined the design method,was still not fully understood by scholars.Herein,from the point of view of the evolution and furcation principle of metamorphic mechanisms,based on screw theory,Lie group,Lie algebra and differential manifold,the mechanism evolution and the interrelationship between the mechanism motions and the constraint spaces were revealed.Then,the furcation principle and the controllable singularity configuration in the evolution of the mechanism were explored.Moreover,the historical relationship between metamorphic mechanisms,origami mechanisms and deployable mechanisms was discussed,and the configuration design,performance synthesis,new design concept of metamorphic mechanisms and their innovative application were reviewed.