基于基本單元的結(jié)構(gòu)功能型機(jī)構(gòu)的綜合
發(fā)布時(shí)間：2018-05-22 15:06
本文選題：拓?fù)浣Y(jié)構(gòu) + 莫比烏斯拓?fù)?/strong> ； 參考：《北京郵電大學(xué)》2014年博士論文
【摘要】：本文針對(duì)一類特殊機(jī)構(gòu)——結(jié)構(gòu)功能型機(jī)構(gòu)(Structure-based Mechanism, SBM)的拓?fù)浣Y(jié)構(gòu)、幾何結(jié)構(gòu)、構(gòu)型綜合、尺度綜合和設(shè)計(jì)方法的系統(tǒng)的研究,以期推動(dòng)機(jī)構(gòu)學(xué)理論及機(jī)械產(chǎn)品創(chuàng)新設(shè)計(jì)的發(fā)展。本文主要研究了兩類具有SBM性質(zhì)的機(jī)構(gòu)：放縮機(jī)構(gòu)和遠(yuǎn)程中心機(jī)構(gòu)。針對(duì)放縮機(jī)構(gòu)進(jìn)行了拓?fù)浣Y(jié)構(gòu)、幾何結(jié)構(gòu)特性、單元組合類型及優(yōu)化、閉環(huán)過(guò)約束機(jī)構(gòu)綜合方法、機(jī)構(gòu)優(yōu)化設(shè)計(jì)方法及其軟件開發(fā)的研究。針對(duì)遠(yuǎn)程中心機(jī)構(gòu)提出了雙遠(yuǎn)程中心機(jī)構(gòu)的類型,并對(duì)雙遠(yuǎn)程中心機(jī)構(gòu)的構(gòu)型綜合、尺度綜合方法、優(yōu)化設(shè)計(jì)方法、微創(chuàng)手術(shù)應(yīng)用開發(fā)做了研究；提出了多遠(yuǎn)程中心機(jī)構(gòu)并對(duì)其進(jìn)行了角度分析、位置分析、尺度綜合方法研究、多遠(yuǎn)程中心放縮機(jī)構(gòu)的應(yīng)用與開發(fā)。 第一部分主要基于圖論中的拓?fù)浣Y(jié)構(gòu)描述方法,分析了一類閉環(huán)過(guò)約束機(jī)構(gòu)——放縮機(jī)構(gòu)在展開過(guò)程中的拓?fù)浣Y(jié)構(gòu),并用拓?fù)鋱D描述其拓?fù)浣Y(jié)構(gòu)特性。發(fā)現(xiàn)了一類具有平面拓?fù)湫再|(zhì)的放縮機(jī)構(gòu)的拓?fù)鋱D,該拓?fù)鋱D可以嵌入到棱柱面上,被稱為棱柱圖(Prism Graph);類具有非平面性質(zhì)的拓?fù)浣Y(jié)構(gòu),該結(jié)構(gòu)符合Kuratowski定理,用于描述該結(jié)構(gòu)的拓?fù)鋱D可以嵌入到Mobius曲面上,被稱為莫比烏斯圖(Mobius Graph)。通過(guò)三角剖分法得到具有非平面拓?fù)湫再|(zhì)的圖的歐拉示性數(shù)與莫比烏斯拓?fù)涞臍W拉示性數(shù)相同。并對(duì)具有這兩類拓?fù)湫再|(zhì)的機(jī)構(gòu)類型分析得出一類具有相同拓?fù)湫再|(zhì)的機(jī)構(gòu)類型。 第二部分針對(duì)結(jié)構(gòu)功能型機(jī)構(gòu)在運(yùn)動(dòng)變化過(guò)程中的機(jī)構(gòu)演化特性,提出了用于表示機(jī)構(gòu)演變過(guò)程的鄰接圖及其鉸鏈鄰接矩陣,該方法可實(shí)現(xiàn)機(jī)構(gòu)演變過(guò)程的數(shù)學(xué)描述。與變胞機(jī)構(gòu)的拓?fù)鋱D描述方法相比,該方法能更直觀、全面的表達(dá)機(jī)構(gòu)的結(jié)構(gòu)信息,且應(yīng)用更加廣泛。用此方法對(duì)放縮機(jī)構(gòu)、變胞機(jī)構(gòu)、折紙機(jī)構(gòu)等進(jìn)行實(shí)例驗(yàn)證,得到更多的機(jī)構(gòu)類型。 第三部分研究了具有SBM性質(zhì)的放縮機(jī)構(gòu)在平面和空間圖形放縮中的應(yīng)用。研究方法從平面延伸到空間,首先研究了平面圖形放縮機(jī)構(gòu)構(gòu)成的基本單元問(wèn)題,提出了四邊形單元構(gòu)造平面圖形放縮機(jī)構(gòu)的方法。該方法將任意圖形放縮機(jī)構(gòu)的設(shè)計(jì)簡(jiǎn)化,僅需查閱表格即可構(gòu)造任意平面圖形放縮機(jī)構(gòu)模型。對(duì)設(shè)計(jì)平面或空間圖形的剪式單元進(jìn)行優(yōu)化,得到一類能增大機(jī)構(gòu)放縮比的混合剪式放縮單元。應(yīng)用此單元設(shè)計(jì)Fullerene多面體放縮機(jī)構(gòu)。并對(duì)該類機(jī)構(gòu)進(jìn)行參數(shù)化模型設(shè)計(jì)及界面設(shè)計(jì)。 第四部分對(duì)在微創(chuàng)外科手術(shù)應(yīng)用廣泛的遠(yuǎn)程中心(RCM)機(jī)構(gòu)進(jìn)行研究,分析其結(jié)構(gòu)及運(yùn)動(dòng)特性,提出了通過(guò)增加SLAE構(gòu)造雙遠(yuǎn)程中心(dual-RCM)機(jī)構(gòu)的方法,并對(duì)該類機(jī)構(gòu)的構(gòu)型及尺度綜合方法進(jìn)行分析。設(shè)計(jì)了一套可實(shí)現(xiàn)遠(yuǎn)程中心位置可調(diào)的雙遠(yuǎn)程中心支架。進(jìn)一步將該機(jī)構(gòu)類型與眼科手術(shù)結(jié)合,提出了克服眼科手術(shù)過(guò)程中雙眼不自主運(yùn)動(dòng)的概念設(shè)計(jì)。 第五部分進(jìn)一步分析dual-RCM機(jī)構(gòu)的幾何和運(yùn)動(dòng)性質(zhì),提出了基于多環(huán)運(yùn)動(dòng)鏈的多遠(yuǎn)程中心機(jī)構(gòu)尺度綜合方法。利用該方法進(jìn)行平面開環(huán)及閉環(huán)多遠(yuǎn)程中心機(jī)構(gòu)的設(shè)計(jì)。進(jìn)一步分析多遠(yuǎn)程中心機(jī)構(gòu)、閉環(huán)運(yùn)動(dòng)鏈和放縮機(jī)構(gòu)的關(guān)聯(lián)關(guān)系,提出了多遠(yuǎn)程中心放縮機(jī)構(gòu)及折疊看臺(tái)這兩種具體應(yīng)用。 本文將由可動(dòng)單元組合得到的具有結(jié)構(gòu)變化性質(zhì)的一類機(jī)構(gòu)歸納為結(jié)構(gòu)功能型機(jī)構(gòu)。并對(duì)與其相關(guān)的拓?fù)鋵W(xué)和機(jī)構(gòu)學(xué)的理論和方法進(jìn)行深入的分析,從而得到機(jī)構(gòu)間的關(guān)聯(lián)關(guān)系。機(jī)構(gòu)學(xué)與建筑結(jié)構(gòu)學(xué)結(jié)合為建造空間可展機(jī)構(gòu)提供理論和實(shí)踐基礎(chǔ)；機(jī)構(gòu)學(xué)與藝術(shù)學(xué)結(jié)合為機(jī)構(gòu)學(xué)研究開辟了一條新的發(fā)展路徑。機(jī)構(gòu)學(xué)理論研究及機(jī)械產(chǎn)品的創(chuàng)新設(shè)計(jì)不僅僅是為實(shí)現(xiàn)某些功能,更可以改變?nèi)藗兊纳罘绞胶蛢r(jià)值觀念,在延續(xù)人類文明中扮演重要的角色。
[Abstract]:This paper aims at the study of the topology, geometry, configuration synthesis, scale synthesis and design methods of a special kind of Structure-based Mechanism (SBM), in order to promote the development of the mechanism theory and the innovative design of mechanical products. This paper mainly studies the two kinds of institutions with SBM properties: The contraction mechanism and the remote center mechanism. The topology structure, the geometric structure characteristic, the unit combination type and the optimization, the closed loop over constraint mechanism synthesis method, the mechanism optimization design method and the software development research are carried out for the retracting mechanism. The configuration synthesis, the scale synthesis method, the optimization design method, the minimally invasive operation application development have been studied, and the multi remote center mechanism is put forward and the angle analysis, the position analysis, the scale synthesis method research, the application and development of the multi remote center retracting mechanism are carried out.
The first part is mainly based on the topology description method in graph theory, and analyzes the topology structure of a kind of closed loop over constraint mechanism in the expansion process, and describes its topological structure with topological graph. It is called Prism Graph; the class has a nonplanar topology, which conforms to the Kuratowski theorem. The topology of the structure can be embedded on the Mobius surface. It is called Moby U Stu (Mobius Graph). The number of Euler signs and the Mo Bi of a graph with non planar topological properties by triangulation is obtained by triangulation. The Euler indicative number of Si topology is the same. Moreover, a type of mechanism with the same topological properties is obtained by analyzing the type of mechanism with these two topological properties.
The second part, aiming at the mechanism evolution characteristic of the structural functional mechanism during the movement process, presents the adjacency graph and the hinge adjacency matrix which is used to express the evolution process of the mechanism. This method can realize the mathematical description of the evolution process of the mechanism. Compared with the topological graph description method of the variable cell mechanism, the method can be more intuitionistic and comprehensive. The structure information of the structure is widely applied. This method is used to verify the shrinkage mechanism, the metamorphic mechanism, the origami mechanism, and so on.
In the third part, the application of retracting mechanism with SBM properties in plane and space drawing shrinkage is studied. The research method is extended to space from plane to space. First, the basic unit problem of planar graph retracting mechanism is studied, and a method of constructing planar graphic retracting machine with quadrangle element is put forward. The design is simplified. The model of arbitrary planar graphic contraction mechanism can be constructed only by consulting a table. The shear unit of the design plane or space figure is optimized, and a kind of mixed shear retracting unit which can increase the ratio of the mechanism is obtained. The Fullerene polyhedron retracting mechanism is designed by using this unit. And the parameterized model of this kind of mechanism is set up. Design of interface.
The fourth part studies the remote center (RCM) mechanism which is widely used in minimally invasive surgery, analyzes its structure and motion characteristics, and proposes a method to construct a dual remote center (dual-RCM) mechanism by adding SLAE, and analyzes the configuration and scale synthesis method of this kind of mechanism. A set of adjustable remote center position is designed. The double remote center support is further combined with the ophthalmic surgery. The concept design of eye movement during eye surgery is proposed.
In the fifth part, the geometry and motion properties of dual-RCM mechanism are further analyzed, and a multi distance kinematic chain based multi distance center mechanism scale synthesis method is proposed. The method is used to design the planar open loop and closed loop multi remote center mechanism. The relationship between the multi remote center mechanism, the closed loop motion chain and the retracting mechanism is further analyzed. There are two specific applications: the remote center retractable mechanism and the folding stand.
In this paper, a class of structures with structural change properties obtained by the combination of movable elements are summed up as structural functional organizations. The theory and methods of topology and mechanism related to them are analyzed in depth, and the relationship between institutions is obtained. On the basis of the theory and practice, the combination of institutional and artistic studies has opened up a new path for the development of institutional studies. The research of institutional theory and the innovative design of mechanical products are not only for the realization of some functions, but also for changing people's way of life and values, and playing an important role in the continuation of human civilization.
【學(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH112
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