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A Research on Structural Concept and Mechanical Characteristics of Hierarchical Modular Structure System

分层模块化结构体系的结构概念及力学特性研究

基本信息

批准号：
17360413
负责人：
HIGUCHI Ken
金额：
$ 10.69万
依托单位：
Japan Aerospace Exploration Agency
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2007
项目状态：
已结题

项目摘要

In this research, we propose a concept of hierarchical modular structure system and show the usefulness of the system for future structures corresponding to large or complicated structure system in extremity environment such as outer space. Concretely, we construct a first generation structure combining several identical module structures, and the several first generation structures form a next second generation structure. It is a basic concept of hierarchical modular structure system to form hierarchically keeping expanding over again, and the systematic technique based on geometric symmetry is presented. Furthermore, some control strategies using interaction between the modules in the hierarchical modular structure are examined, and we show the effectiveness with numerical calculation.In addition, integrating the structure and the assembly robot, flexible automatic self-assembly system is proposed. We discuss the characteristics of the automatic self-assembly system, and show the algorithm regarding automatic operation plan of self-assembly process. The effectiveness is shown with the simulation treating the case where intended form is formed from some initial state with two dimensional hexagonal modules as example. In order to show the possibility of self-assembly space structure systems, we produce hardware models and provide actual basic operation.

在这项研究中，我们提出了层次化模块化结构系统的概念，并展示了该系统对未来结构在外层空间等极端环境中对应的大型或复杂结构系统的实用性。具体地说，我们构造了一个由几个相同的模块结构组成的第一代结构，几个第一代结构组成了下一代第二代结构。层次化不断扩展形成层次化模块化结构体系是层次化模块化结构体系的基本概念，提出了基于几何对称性的系统化技术。在此基础上，研究了层次化模块化结构中模块间相互作用的控制策略，并通过数值计算验证了控制策略的有效性。此外，将该结构与装配机器人相结合，提出了柔性自动自组装系统。讨论了自动自组装系统的特点，给出了自组装过程自动作业计划的算法。以二维六边形模块为例，对初始状态为预定形状的情况进行了仿真，结果表明了该方法的有效性。为了展示自组装空间结构系统的可能性，我们制作了硬件模型并提供了实际的基本操作。