高性能大变形空间曲梁柔顺机构综合方法研究

This proposal focuses on the urgent requirement of the spatial compliant mechanism with high performance and large deformation in the fields of precision engineering, bionic machinery, biomedicine and aerospace. Aiming at the issue that the desired performance cannot be considered during the process of spatial compliant mechanism synthesis, a synthesis method of spatial compliant mechanism with high performance and large deformation will be proposed with the combination of isogeometric analysis, theory of freedom and constraint topology and multidisciplinary optimization. The issues of membrane locking and shear locking in spatial compliant curved beam based on the isogeometric approach are explored. The relationship between the geometric model and the physical model of spatial compliant curved beam will be established. The mapping rules between the desired performance and the geometric parameters of the mechanism will be revealed. The dynamic configuration library of the spatial compliant beam with multi desired performance will be established. The design software of spatial compliant mechanism with high performance and large deformation will be developed based on space curved beam. Some novel spatial curved beam compliant mechanisms with desired performance index will be designed and developed based on this method, and experiments will be conducted to verify the effectiveness of the synthesis method. It will effectively solve the technical bottleneck problem of the spatial compliant mechanism synthesis method which cannot meet the requirements of high performance and large deformation. And it will provide theory support for the application of compliant mechanisms in the frontier fields.

面向精密工程、仿生机械、生物医疗以及航空航天等领域中对高性能大变形空间柔顺机构的迫切需求，针对空间柔顺机构综合过程中不能兼顾多种期望性能的难题，本项目拟采用等几何分析、自由度约束互补拓扑理论和多学科优化相结合的方法，提出一种高性能大变形空间曲梁柔顺机构综合方法。探索等几何空间柔顺曲梁膜闭锁与剪切闭锁问题；建立基于等几何方法的空间柔顺曲梁几何模型与物理模型映射关系，揭示期望性能与机构几何参数之间的映射规律；构建具有多期望性能的空间柔顺曲梁动态构型库；研发高性能大变形空间曲梁柔顺机构设计软件，设计并研制具有期望性能指标的新型空间曲梁柔顺机构，实验验证该综合方法的有效性。以期解决空间柔顺机构综合方法无法满足高性能大变形需求的技术瓶颈问题，为柔顺机构在诸多前沿领域的深入应用提供理论支撑。

柔顺机构在精密工程、仿生机械、生物医疗和航空航天等科技前沿领域具有的广泛应用，高性能大变形柔顺机构的需求对空间柔顺机构综合方法提出了巨大的挑战。本项目以空间任意形状柔顺曲梁作为空间柔顺机构的柔顺单元，结合等几何分析、自由度约束互补拓扑理论和多学科优化设计方法，对高性能大变形空间柔顺机构综合方法开展应用基础研究。针对空间柔顺曲梁建模困难和存在闭锁的问题，构建等几何单元高阶基函数，构建出空间曲梁刚度矩阵，揭示了多种期望性能与几何参数之间的映射规律。针对曲梁柔顺机构缺少构型理论的难题，对曲梁柔顺机构进行了类直梁封装，建立了具有多种性能指标的空间柔顺曲梁构型库，将构型库中的曲梁与自由度互补拓扑理论相结合，提出了曲梁柔顺机构的构型方法。编写了基于静态性能子模块、动态性能子模块、构型库子模块的空间曲梁柔顺机构可视化软件。基于提出的高性能大变形空间曲梁柔顺机构综合方法，研制了三维负泊松比机构、六自由度曲梁柔顺机构、曲梁3D打印辅助装置、曲梁三维椭圆振动切削装置、微创肋骨固定拼接手术机器人等基于曲梁柔顺机构的装置，并通过仿真与实验验证了高性能大变形空间曲梁柔顺机构综合方法的实用性与有效性。