OPTIMUM DESIGN FOR INTELLIGENT FLEXIBLE STRUCTURES

研究了基于螺旋弹簧连接段的离散化方法对柔性结构建模的适用性。针对柔性杆的面内挠度问题，提出了柔性结构设计的新公式。用拉格朗日乘子法估计挠性杆的变形形状，其中泛函由应变能组成，并受边界条件的约束。采用拉格朗日乘子法，推导了设计方法学中不可缺少的灵敏度分析公式。在灵敏度分析的基础上，推导了设计参数的控制方程，并利用Moore-Penrose广义逆进行了求解，并通过数值算例验证了该公式的有效性。对柔性杆的布局问题进行了基本的检验，其中的杆的布局面积为约束不等式。利用该算法解决了柔性机械臂的轨迹控制问题，利用柔性杆的屈曲实现了过载释放机构，解决了可展开结构的折叠载荷控制问题。

The applicability of discretized methodology based on the segments connected by coil spring has been investigated for the modeling of flexible structures. New formulation for the design of the flexible structure was presented in problem of inplane deflection of a flexible rod. The deflected shape of flexible rod is estimated by Lagrange multiplier method, where the functional is constituted by strain energy with the constraints on boundary conditions. The formulation of sensitivity analysis, which is indispensable for design methodology, was derived in line with the employed Lagrange multiplier method. Owing to the proposed sensitivity analysis, the governing equation of design parameters was derived and solved by means of the Moore-Penrose generalized inverse.The validity of the proposed formulation was examined in numerical examples. Fundamental examination was carried out for layout problem of flexible rod, where the layout area of rod was constrained inequalities. Successful result was obtained in the layout problem, then following problems were solved by using proposed algorithm :1) Trajectory control of flexible manipulator2) Excessive load release mechanics by utilizing bucking of flexible rod3) Folding load control of deployable structure