A Study on Redundancies in Bio and Mechanical Systems

本文的主要研究内容包括以下几个方面：(1)生物冗余度的研究及其在工程问题中的应用。(2)机械手中的各种冗余度。以自由度、传感器和执行器数量、驱动机构、可靠性为评价指标，从有效性和稳健性两个方面对其进行综合评价。提出了创新机械手的应急设计方法，并通过实验对所提出的方法进行了评价。(3)全面评价了材料、机构和结构中的冗余度，并针对这些冗余度提出了机械系统创新设计方法的命题。(4)综合上述两点，提出了创新机械系统的命题。2003年和2004年澄清了机构、执行器的冗余以及位置和驱动位置之间的关系。研究了涉及执行器和机构的机械系统创新设计方法。具体引入优化，提出了以冗余度为参数，降低各驱动器能量和总所需能量的设计方法。在本项目的最后一年，总结了所有取得的成果。在此基础上，对后续和发展中的研究进行了介绍。

The following objectives were taken in series of our researches.(1) Examination of the redundancies in living things was done and their applications to engineering problems. (material, structure, mechanism, sensor, actuator)(2) Various redundancies in manipulators. (degrees of freedom, number of sensors and actuators, driving mechanism, reliability) were taken as targets to be evaluated and they were totally evaluated from effectiveness and robustness. Propositions of emergent design methods of innovative manipulators were hold and the evaluation of the proposed method by experiments.(3) Total evaluations of the redundancies in materials, mechanisms and structures and propositions of creative design methods of mechanical systems in view of them.(4) Considering above mentioned points (2) and (3) propositions of innovative mechanical systems was done. Redundancies of mechanisms, actuators and relation between positions of locations and ones of drivings were clarified in 2003 and 2004. Studies on innovative design method of mechanical system involving actuators and mechanisms were carried out. Concretely introducing optimization, the design methods were proposed by taking parameters on redundancies to reduce the energy of each actuator and total required energy. In the final year of this project, all results obtained were summarized. Then based on the results, successive and developing researches were then carried out and introduced.