OPTIMUM DESIGN FOR INTELLIGENT FLEXIBLE STRUCTURES

智能柔性结构的优化设计

• 批准号: 08650091
• 负责人: YOSHIKAWA Nobuhiro
• 金额: $ 1.34万
• 依托单位: THE UNIVERSITY OF TOKYO
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650091/
• 关键词: SPACE STRUCTURE; SMART STRUCTURE; ADAPTIVE STRUCTURE; STRUCTURAL OPTIMIZATION; INTERACTION OF STRUCTURE AND CONTROL; GEOMETRIC NONLINEARITY; NUMERICAL ANALYSIS; COMPUTATIONAL MECHANICS; 宇宙設計; 最適構造

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

研究了基于螺旋弹簧连接段的离散化方法在柔性结构建模中的适用性。针对柔性杆的面内挠度问题，提出了一种新的柔性结构设计方法。采用拉格朗日乘子法估计柔性杆的变形形状，其中泛函由应变能构成，并对边界条件进行约束。根据所采用的拉格朗日乘子法推导了设计方法学中必不可少的灵敏度分析公式。基于所提出的灵敏度分析，推导了设计参数的控制方程，并利用Moore-Penrose广义逆进行求解，并通过数值算例验证了所提出公式的有效性。对柔性杆的布局问题进行了初步的研究，其中杆的布局面积是受约束的不等式。在布局问题中取得了成功的结果，并应用该算法解决了以下问题：1）柔性机械臂的轨迹控制; 2）利用柔性杆的屈曲释放多余载荷的机理; 3）可展结构的折叠载荷控制

项目成果

Nobuhiro Yoshikawa and Osamu Kuwazuru: "Shape Synthesis of Equally Stressed Surface" Proceedings of the 47th National Congress of Theoretical and Applied Mechanics. 91-92 (1998)

吉川信宏、桑鹤修：《等应力曲面的形状合成》第47届全国理论与应用力学大会论文集。

吉川暢宏: "等張力膜構造の形態シンセシス" 第47回応用力学連合講演会講演予稿集. 91-92 (1998)

Nobuhiro Yoshikawa：“等渗膜结构的形态合成”第 47 届应用力学联盟会议记录 91-92（1998）。

桑水流 理: "径路制約を受ける柔軟ロッドの納まり形状の最適化" 日本機械学会第10回計算力学講演会講演論文集. 97・7. 517-518 (1997)

Osamu Kuwamizu：“受路径约束的柔性杆的配合形状的优化”日本机械工程学会第十届计算力学会议论文集 97・7（1997）。

桑水流 理: "不等式径路制約を受ける柔軟ロッドの形状シンセシス" 日本機械学会第7回設計工学システム部門講演会講演論文集. 97-69. 148-150 (1997)

Osamu Kuwamizu：“受不等式路径约束的柔性杆的形状合成”日本机械工程师学会第七届设计工程系统分会会议记录 97-69（1997）。

Osamu Kuwazuru, Nobuhiro Yoshikawa and Shigeru Nakagiri: "Shape Synthesis of Flexible Rod under Inequality Constraints of Layout" Proceedings of 7th Design and System Division Conference of Japan Society of Mechanical Engineers. (No.97-69). 148-150 (1997)

Osamu Kuwazuru、Nobuhiro Yoshikawa、Shigeru Nakagiri：“布局不等式约束下柔性杆的形状合成”日本机械工程学会第七届设计与系统分会会议论文集。