软体波动推进机器人复杂形态计算与优化设计研究

Aiming at the scientific problem ——large deformation and variable stiffness in the motion of soft robots, this project innovatively proposed that through constructing the multi-factor coupling motion state model of a soft bionic robot based on the feedback of its deformation and interactive forces with embedded novel soft sensors, one can explore the influence rules of the morphology caused by both the active and passive deformation and active variable stiffness on the intrinsic dynamic properties of the soft robot. Meanwhile, by introducing the self-learning evolution algorithms, one can use evolutionary computation to obtain the optimal morphology of the soft robot under different environments. An explicit topology optimization method for soft robots based on Smoothed Particle is further put forward. Described explicitly with geometric features, this method can efficiently solve the large computational load, high computation cost, and bad computational stability for soft structures in the traditional topology optimization, realizing integrated design for the distributed actuation and variable stiffness of the soft robots. This project will study the basic theory in the following area including the bionic analysis of Blue-spotted Rays, feedback-based motion state model construction, propulsion mechanism of a soft pectoral fin, the implement methods of variable stiffness and the optimization design for soft robots, and then solve the key scientific and technique problems in the field, thus developing a new design method for high-performance soft robots.

针对“软体机器人大变形制动和变刚度机制”这一科学问题，本项目创新性地提出融合新型柔性嵌入式传感器，通过变形和力的反馈构建仿生软体机器人多元耦合的运动状态模型，探索主动变形和被动变形相结合的“形”和主动变刚度的“态”对软体机器人固有动力学特性的影响规律，揭示柔性胸鳍波动变形推进和变刚度机制，同时引入自学习进化算法，进化计算不同环境下软体机器人最优形态；提出基于光滑粒子的软体机器人显式拓扑优化方法，以几何特征进行显式描述，有效解决了传统拓扑优化算法在复杂软体结构设计中计算量大、复杂度高、计算稳定性差的问题，实现了软体机器人的分布式欠驱动和变刚度结构的一体化设计；本项目将在蓝点魟鱼仿生分析、基于反馈的运动状态模型构建、柔性胸鳍推进机理、变刚度实现方法以及优化设计等方面探索基础理论，解决其中涉及的关键科学问题和技术难题，从而为高性能软体机器人的设计发展一种新方法。

本项目针对“软体机器人大变形致动和变刚度机制”这一科学问题，在波动/拍动推进软骨鱼类生物启发下，重点进行了探索主动变形和被动变形相结合的“形”和主动变刚度的“态”对软体机器人固有动力学特性的影响规律，揭示柔性胸鳍波动变形推进机制，进行软体驱动结构和变刚度机构的设计，研究软体变形和力反馈的运动状态信息，搭建软体鱼实验仿真联合分析平台，实现软体机器人主动姿态变形控制等方面的研究。该项目的预定目标及内容已经按计划完成，研究成果可为新型水下推进器的设计与控制提供理论基础，为可用于检测、侦查、救援等领域的水下机器、装备的研究与设计提供新思路。

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