OPTIMUM DESIGN FOR INTELLIGENT FLEXIBLE STRUCTURES

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。针对挠性杆面内挠曲问题，提出了挠性结构设计的新公式。采用拉格朗日乘子法估计柔性杆的挠曲形状，其中泛函由边界条件约束下的应变能构成。根据所采用的拉格朗日乘数法，推导了设计方法中不可缺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。数值算例验证了所提公式的有效性。对棒材布置面积为约束不等式的柔性棒材布置问题进行了基础研究。在布局问题上取得了成功的结果，然后利用该算法解决了以下问题：1)柔性机械手的轨迹控制；2)利用柔性杆屈曲的过载释放力学；3)可展开结构的折叠载荷控制

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