【作者】 麦泽宇；

【导师】 谭建荣； 冯毅雄；

【作者基本信息】 浙江大学 ， 机械设计及理论， 2010， 硕士

【摘要】 针对传统产品方案设计的抽象性、复杂性和不完整性,提出了基于仿生学的复杂机电产品装配方案与运动控制设计技术,对装配方案建模、运动方案变异和控制方案耦合等关键技术进行了深入研究,并结合实际项目将以上各项技术应用于实际的产品开发中,取得良好效果,证明作者所提设计技术的有效性。第1章,指出了复杂机电产品方案设计的重要性和有待突破的瓶颈,阐述了复杂机电产品方案设计的国内外研究现状,分析了将仿生学应用于复杂机电产品方案设计的研究现状和不足之处,在此基础上提出了基于仿生学的复杂机电产品装配方案与运动控制设计技术,并给出了论文的主要研究内容及结构框架。第2章,为了从宏观上把握产品装配系统中各个零件的功能及其之间的约束关系,进而根据需求对产品装配系统进行设计或变异,通过分析生物组织系统与产品装配系统的相似性,借鉴生物学知识,将产品装配系统表达为产品功能基因、产品约束基因、产品功能蛋白质、产品约束蛋白质和产品细胞等。建立由产品功能基因团和约束基因组成的产品染色体模型并提出基于产品染色体模型的设计方法。第3章,分析了生物基因遗传和变异的机理与机构变异的相似性,提出了基于遗传学特征模型和原理模型的两种基因变异方法。总结出构件、运动副基因表达式和机构基因表达式,建立机构遗传学特征模型。归纳出基于遗传学特征的机构基因变异3条法则,根据变异法则规定了6种对机构遗传学特征模型的变异运算。分析了在运动输入不变的前提下控制机构运动输出的影响因子并将其分别表达为运动副染色体序号、运动副特性基因和距离关系矢量基因,建立由机构染色体关系图和机构染色体矩阵组成的机构遗传学原理模型,借鉴遗传学减数分裂和染色体变异等原理提出了三种对机构遗传学原理模型的运动副染色体基因重组运算——显性、易位和转移。第4章,模仿自然界群居生物在协作劳动过程中如何系统性地控制个体进行协同劳动,将在设计复杂机电产品控制方案时需要考虑的各种耦合进行系统性的分类,提出了作用耦合、内部耦合和同步耦合等三类控制系统的仿生耦合,分析了各类仿生耦合的控制方法及其对应的误差类型,将同步耦合的误差按控制对象为执行元件的运动轨迹和各个轴的运动参数两种情况进行分类并建立相应的误差模型。第5章,介绍了复杂宝石加工专用装备的研发背景,将复杂机电产品装配方案的染色体建模、复杂机电产品运动方案的基因变异和复杂机电产品控制方案的仿生耦合等复杂机电产品方案设计技术分别应用于复杂宝石加工专用装备机械手建模、进料机构变异和控制系统设计中,证明了论文提出的基于仿生学的复杂机电产品装配方案与运动控制设计技术的实用价值和研究意义。第6章,总结了本课题的研究成果,展望了今后的研究方向。更多还原

【Abstract】 This paper presents assembly scheme and motion control design technologies for complex electromechanical products based on Bionics, considering the defects of traditional product scheme design, such as abstractness, complexity and incomplete. The in-depth studies conducted in the paper are the key technologies in assembly scheme modeling, motion scheme variation and control scheme coupling. And the successful application in a practical project has proved the utility of the above technologies.Chapter 1, the significance and defect of scheme design for complex electromechanical products are pointed out. The current study status at home and abroad of scheme design for complex electromechanical products is demonstrated. The study status and defect of bionics’ uses in scheme design for complex electromechanical products are analyzed, and on the basis of which, the technologies of scheme design for complex electromechanical products based on Bionics are proposed, and the primary research contents and the structure of this paper were given.Chapter 2, In order to grasp the functions of each part and the constraint relation between two parts in product assembly system in macroscopic view, furthermore, to design and vary the product assembly system according to requirements, the product assembly system was expressed as product function gene, product constraint gene, product function protein, product constraint protein and product cell by analyzing the similarity between biology system and product system and using biology knowledge for reference. The product chromosome model composed of product function gene groups and constraint genes was established and the design method based on it was proposed.Chapter 3, two gene variation methods based on genetic features model and principle model are proposed by analyzing the comparability between the principle of biotic genetic inheritance and variation and mechanism variation. A mechanism genetic features model was created according to the genetic expressions of components, kinematic pairs and mechanism summarized. Three rules of mechanism gene variation were summarized based on genetic features model, according to which six variation operations on the mechanism genetic features model including voluntary variation, extreme variation, interchanged variation, reversed variation, recombinant variation and hybrid variation were proposed. Influencing factors which control mechanism motion output are analyzed on the premise that motion input keeps constant. They are represented as kinematic pair chromosome number, kinematic pair feature gene and distance relationship vector gene. Mechanism genetic principles model is established, constituted by mechanism chromosome relationship graph and mechanism chromosome matrix. Three kinematic pair chromosome gene recombination operations on mechanism genetic principles model (dominance, translocation and metastasis), are proposed by using meiosis and chromosome variance in genetics for reference.Chapter 4, the couplings that have to be considered in designing the control scheme for complex electromechanical products are classified systemically into three kinds of bionics couplings including effective coupling, internal coupling and synchronous coupling by imitating the systemic control of collaborative work of organism in nature. The control methods of the three bionics couplings and their respective error models are analyzed. The error of synchronous coupling are classified according to the two situations of that the control object is actuator’s trajectory or synchronous shafts’ motion parameters.Chapter 5, the development background of complex diamond manufacturing special equipment is introduced. The technologies of assembly scheme chromosome modeling, motion scheme gene variation and control scheme bionics coupling of the scheme design of complex electromechanical products are applied in manipulator’s modeling, feeding mechanism’s variation and control system’s design of complex diamond manufacturing special equipment, which proves the practical value and the research significance of assembly scheme and motion control design technologies for complex electromechanical products based on Bionics.Chapter 6, the research results of this subject were summarized, and the future research direction are expected.更多还原