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

在本研究中，我们提出了一个概念，分层模块化结构系统，并显示系统的有用性，为未来的结构，对应于大型或复杂的结构系统，在极端的环境，如外层空间。具体地说，我们构造了一个第一代结构组合几个相同的模块结构，和几个第一代结构形成下一个第二代结构。层次式模块化结构系统的基本概念是按层次不断扩展，并提出了基于几何对称性的系统技术。在此基础上，研究了基于分层模块化结构中模块间交互的控制策略，并通过数值计算验证了其有效性。此外，将分层模块化结构与装配机器人相结合，提出了柔性自动自装配系统。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，通过对初始状态形成预定形状的情况进行仿真，验证了该方法的有效性。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。

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.