具有混合分支的模型可重构柔性并联多维重载力感知机构基础理论研究

In order to meet the urgent need of adaptive sensing technology for large multi-dimension force in the fields of aviation and aerospace, national defense facilities and so on, the theory of reconfigurable measurement will be proposed. The configuration synthesis and mechanism analysis for the reconfigurable parallel force-sensing mechanisms with redundancy will be analyzed. The design and application of adaptive measuring task for the heavy multi-dimensional force will be also studied.Reports about the sensing mechanisms for heavy multi-dimension force are rarely seen, the precise force mapping models of the compliant mechanisms with high coupling and large bearing are hard to be established and the mechanical property rules presented under the large range loading are still unclear. Faced with the above three problems, the ideas combining large force bearing and micro-force measurement will be proposed, and the generating method of large range force-sensing mechanisms with mixed measuring branches will be explored and proposed. The contradiction between large bearing capacity and high sensitivity will be solved by applying the nearly-singular configurations as the strengthening mechanisms.With small deformation theory and geometric compatibility, the statically indeterminate static mapping relationship of the fully-compliant over-constraint parallel mechanism will be also solved, and the force-sensing mechanisms and change rules of the compliant multi-dimensional force sensing mechanisms will be explained.The performance index and optimization method catering for adaptive measuring large force will be proposed, the prototype of sensor will be manufactured, and the calibration test platform also will be built. Based on the adaptive reconstructing algorithm, the reconfigurable multi-dimension force sensing system will be developed, the calibration and application experiments also will be carried out. According to the research, the new ideas of stress analysis and the applications of compliant mechanisms will be provided and the design theory of parallel mechanism with redundancy will be expanded and deepened.

面向航天、国防等领域对自适应重载多维力感知技术的迫切需求，引入可重构测量理论，进行模型可重构冗余并联力感知机构综合和机理解析，开展面向自适应重载多维力测控任务的设计与应用研究。针对多维重载力感知机构少有报道、高耦合大承载柔性机构力精准映射模型难以建立、大范围重载作用力学特性规律认知不清等问题，巧妙融合大力承载和微力测量思想，提出并探索混合分支重载多维力感知机构创成方法，巧妙应用近奇异位形作为增力机构，解决大承载与高灵敏度之间的矛盾，应用小变形理论和几何相容条件，解决全柔性过约束并联机构超静定静力映射解析问题，阐明柔性多维力感知机构重载力感知机理及变化规律，提出面向自适应重载感知的性能指标和优化方法，研制样机，搭建标定测试平台，开发自适应重构算法，构建可重构多维力感知系统，开展标定测试及应用技术研究。研究内容将为柔性机构受力分析和应用提供新思路，拓展和深化冗余并联机构设计理论。

面向航天、国防等领域对重载多维力感知技术的迫切需求，针对复杂环境下重载自适应测量的任务要求，本项目从测量模型、铰链类型、解耦特性、结构布局、制造工艺等方面制定了重载多维力感知机构选用与设计准则。引入“大力承载，微力感知”设计思想，提出在冗余柔性关节并联机构基础上增加大刚度承载分支，构建兼具承载分支和测量分支的混合分支柔性过约束机构，作为面向自适应重载测量任务的可重构多维力感知机构的设计思路与配置条件；巧妙利用机构在接近奇异位形时内力增大特性，提出“近奇异”设计思想，通过对构型分支的分布设计及奇异角度的优化配置，达到提高特定测量方向灵敏度的目的，至此，形成了综合考量可重构和重载性能以及灵敏度的多维力感知机构的综合设计方法，并设计了多种弹性体力感知机构及可嵌入式全柔性力感知机构。建立了混合分支柔性过约束机构的精准力映射模型，分析了大范围重载作用下的力学特性演化规律；基于提出的多维力感知机构可重构理论，构建了多维力感知机构的刚度重构和维度重构模型，提出了以近奇异性能指标和灵敏度性能指标的多维力感知机构的结构尺寸优化方法。研制出了多维力感知机构样机，搭建了可重构重载标定系统与应用实验系统。针对重载多维力感知机构样机维间耦合问题，通过对多种解耦算法进行研究分析，开发优选了多维力感知机构的智能解耦算法，为力传感器的标定提供了多种思路。开展了基于并联六维力传感器的磨削力柔顺实验研究，深入分析了磨削过程中的受力机理及控制算法，验证了传感器的良好性能；基于柔性力感知理念，实现了对柔性力感知机构的协同控制及康复应用的拓展实验研究。面向可重构重载及近奇异特性的柔性并联多维力感知机构构型综合、机理建模、性能评价和设计方法等理论问题的解决和应用测试系统的搭建，深化了多维力感知机构的设计理论，为多维力感知机构的设计与系统开发提供了重要的理论依据和技术基础，同时为柔性力感知机构的应用拓展开辟了新方向。