一种基于几何特征的形态可变机构的系统综合与应用

以几何形状特征变化为主要功能，将基本单元用特定组合方法构造出一类新的机构类型——形态可变机构，如形状保持不变，比例改变、从一种形状改变到另一种形状、在特定几何条件下运动等，开创了机构的新类型，为未来共融机器人提高对环境和多种任务的适应性提供了新的构型设计方法。.本项目将开发形态可变机构的基本单元种类，采用多种组合形式，平面与空间等多维空间的共性几何规律，刚性和柔性的具体实现方式，编制机构设计软件，得出此种机构的自动综合方法。而此种机构驱动件的设计，使这种机构整体只有一个自由度即可运动，所需电机少，控制方便，成本降低，易于实现产业化。.这种新机构的出现，将产生机构学的新设计理论，而且结合刚-柔-软耦合系统的特性，从纳米尺度到空间大尺度机构都具有广泛的应用前景。

A kind of form changing mechanisms which function is geometrical characteristics can be generated by combining some special linkages as the basic units, such as the scale changing mechanism, shape changing mechanism, or a certain geometric shape maintained mechanisms under particular conditions of movements. The research of the form changing mechanisms initiates some new functions and new types of mechanisms which can supply new theory and approach for Co-existing robot to adapt different circumstance and different tasks...The project is aimed at exploring new basic elements made up of some special linkages and their serial, parallel and hybrid combined methods. The universal geometric rules of these mechanisms in n-dimensional space and practical realization with rigid and flexible constraints are further investigated. The automatic synthesis will be obtained through automatic design software. Due to one-degree driven, this kind of mechanisms which need less driven motor, are easily controlled with low cost and easy industrialization...The geometric synthesis theory for these devices yield design methods that make rigid body,compliant body and soft body crossed and integrated. The result will be a new generation of mechanical devices that provide technological solutions at the micro and nano levels up to scales of large space structures.