Investigation and Development of a New Class of Mechanisms: Metamorphic Mechanisms with Reconfigurability

机械装置是机器和机器人装置的基本部件。近年来出现的一类新型机构以其多变的结构和机动性吸引了世界上大量的研究人员。这类新的机制可以随后改变功能，适应不同的环境和不同的工作任务。这就是新机构区别于传统机构的特点。这项基础性和探索性的研究是考察新机构的特点，特别是可重构性，并研究将前沿综合方法融入到新机构独特的拓扑变化中的拓扑综合，为机构的自重构性提供坚实的理论基础，并开发机构的自重构性的理论框架和实际应用。探讨了变质化的概念及其在可重构性和动态可重构性方面的应用，并以可重构和变质化机构为开发平台对试验台进行了改造。在该平台的基础上，建立了基于拓扑的动力学模型和动态可重构控制策略，并对其稳定性和可控性进行了考察，是机构发展的前沿研究，在动态可重构方面具有一定的创新意义。它将建立新机构的理论基础，并为学术界和工业界的研究人员提供新机构的可重构性建模、拓扑综合、动力学分析和控制算法。

Mechanisms are fundamental parts of machines and robotic devices. The recently emerging new class of mechanisms have attracted a substantial number of researchers in the world with the changeable structures and mobility. The new class of mechanisms can subsequently change the functionality and adapt to various environments and different working tasks. This is the characteristic that distinguishes the new mechanisms from traditional mechanisms.This fundamental and adventurous research is to look into the characteristics particularly reconfigurability of the new mechanisms and investigate the topology synthesis which integrates the leading-edge synthesis method into the unique topology change of the new mechanisms to produce a sound and solid theoretical basis of the mechanisms and to develop both theoretical framework and practical use of the self-reconfigurability of the mechanisms. The metamorphic concept and its use in reconfigurability as well as dynamic reconfigruability are to be explored and a test rig is to be modified with reconfigurability and metamorphic mechanisms as a development platform. Based on this platform, a topology based dynamic model and a control strategy of dynamic reconfigurability is to be developed, both stability and controllability are to be examined.The proposed research is the leading-edge research in mechanism development and adventurous in dynamic reconfigurability. It will establish a theoretical basis of the new mechanisms and provide researchers in both academic and industrial establishments with reconfigurability modelling, topology synthesis, dynamic analysis and control algorithms of the new mechanisms.